Parallel parking with curvature and nonholonomic constraints

Lyon, Douglas A.

doi:10.1109/ivs.1992.252283

Cited by 25 publications

(10 citation statements)

References 6 publications

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“…As result of causing discontinues between line and arcs, CLMR is forced to stop in discontinues point. To overcome this problem, several authors have proposed new geometric methods which applied continuous -curvature path planners such as two arcs of circle [12], sinusoidal curvatures and cosine curvature [13,14]. Finally, fifth order polynomial [15,16] has been defined as the best path in order for two initial and final configurations to be connected without discontinuous and collision.…”

Section: Introductionmentioning

confidence: 99%

A real-time intelligent parallel parking system for a car like mobile robot

Moghri

Karami

Ghaderi

2012

The 16th CSI International Symposium on Artificial Intelligence and Signal Processing (AISP 2012)

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This paper presents an online method for motion planning of autonomous backward parallel parking of four wheels car like mobile robot (C LMR) under the nonholonomic constraints. In the work, distance sensors are applied by CLMR to recognize a feasible space to perform a collision-free parking maneuvering based on the size of park lot and C LMR. Path planning is considered to find a primary path as a reference trajectory. Fuzzy control is also applied for computing an acceptable trajectory so that CLMR can track the reference trajectory to complete parking task successfully. Fuzzy rules are extracted by an experienced driver. Simulation results show this robust method to find a proper lot space without knowing the width of parking lot using the information reached by sensors and the allowable region for the initial configuration of CLMR.

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Section: Introductionmentioning

confidence: 99%

A real-time intelligent parallel parking system for a car like mobile robot

Moghri

Karami

Ghaderi

2012

The 16th CSI International Symposium on Artificial Intelligence and Signal Processing (AISP 2012)

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“…References [5]- [9] make use of distance sensors, mounted on the wheels, as feedback signals to the vehicle to perform the task. Currently there are two different approaches adapted by investigators, the path planning approach [5] and skill based approaches [6]- [8].…”

Section: Introductionmentioning

confidence: 99%

“…Currently there are two different approaches adapted by investigators, the path planning approach [5] and skill based approaches [6]- [8]. In the path planning approach, a driving path is planned before the vehicle starts moving based on knowledge of the size of the parking space and vehicle dynamics.…”

Section: Introductionmentioning

confidence: 99%

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Fuzzy Logic Based Autonomous Parallel Parking System with Kalman Filtering

Panomruttanarug

Higuchi

2010

SICE Journal of Control, Measurement, and System Integration

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: This paper presents an emulation of fuzzy logic control schemes for an autonomous parallel parking system in a backward maneuver. There are four infrared sensors sending the distance data to a microcontroller for generating an obstacle-free parking path. Two of them mounted on the front and rear wheels on the parking side are used as the inputs to the fuzzy rules to calculate a proper steering angle while backing. The other two attached to the front and rear ends serve for avoiding collision with other cars along the parking space. At the end of parking processes, the vehicle will be in line with other parked cars and positioned in the middle of the free space. Fuzzy rules are designed based upon a wall following process. Performance of the infrared sensors is improved using Kalman filtering. The design method needs extra information from ultrasonic sensors. Starting from modeling the ultrasonic sensor in 1-D state space forms, one makes use of the infrared sensor as a measurement to update the predicted values. Experimental results demonstrate the effectiveness of sensor improvement.

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“…There are other works emphasizing on optimizing the parking path to either the shortest time or route by studying the generic non-holonomic constraints of the vehicle routes with various mathematical functions, such as circular, trigonometric, and polynomial functions 7,8 . These paths have non-constant curvatures and usually require lengthy periods of orbit planning and continuous wheel steering for path tracking, resulting shortening tire lifetime.…”

Section: (Level 3)mentioning

confidence: 99%

Automatic Parking Vehicle System

Liu

Liao

Yeh

et al.

2016 ASEE Annual Conference &Amp; Exposition Proceedings

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He has been conducting research in control systems and signal processing. His current research interests are in electric drive vehicle technology and advanced energy storage, including advanced battery systems for hybrid electric vehicles. Dr. Yeh is also experienced in developing formal degree programs and professional development programs for incumbent engineers, community college instructors, and high school science and technology teachers. He is the PI and co-PI of several federal and state funded projects for course, curriculum and laboratory development in advanced automotive technology. Automatic Parking Vehicle SystemAbstract Vehicle automation, autonomy and connectivity is a subject of mechatronics integrating many engineering disciplines including electrical, mechanical, control, and computer engineering (and technology). It is fundamentally changing the concept of automobile transportation and manufacturing. Therefore, developing new, technologically progressive curricula and hands-on lab as well as student project materials is desired to prepare for the future workforce needs of autonomous cars in the automotive industry. This "Automatic Vehicle Parking System" is a research and concept-proving project that will be prepared and extended to develop teaching materials for courses and students project on the subject of vehicle automation, autonomy and connectivity. In this project, an RC (remote-controlled) toy car is modified by integrating ultrasound sensors and Arduino with a high current shield to control the vehicle movements and the parking processes. Parking strategies and the corresponding algorithms are explored and programed through Arduino. During testing, the car is able to move to detect the imitated "roadside" environment, judge a space suitable for parking or not, and then drive to park automatically. A 3D printer is utilized to build the parts needed for modification. Student working processes of design, hardware modification, as well as the algorithm and coding procedures are observed and evaluated for systematic course material development.

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Parallel parking with curvature and nonholonomic constraints

Cited by 25 publications

References 6 publications

A real-time intelligent parallel parking system for a car like mobile robot

A real-time intelligent parallel parking system for a car like mobile robot

Fuzzy Logic Based Autonomous Parallel Parking System with Kalman Filtering

Automatic Parking Vehicle System

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