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Browse Conference Publications > Robotics and Automation, 1996 ... Help

Motion generation and control for parking an autonomous vehicle

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2 Author(s)
Paromtchik, I.E. ; IMAG, Grenoble, France ; Laugier, C.

Practical aspects of motion generation and control for parking a nonholonomic autonomous vehicle are considered. An iterative algorithm for the parallel parking maneuver is proposed. It is based on ultrasonic range data processing. To control the steering angle and longitudinal velocity of the vehicle during the parking maneuver, sinusoidal reference functions are used. To prevent collisions, the maneuver is carried out as a reactive motion. The developed control is experimentally verified for a LIGIER electric autonomous vehicle

Published in:
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on  (Volume:4 )

Date of Conference: 22-28 Apr 1996

Page(s):
3117 - 3122 vol.4
Meeting Date :
22 Apr 1996-28 Apr 1996
ISSN :
1050-4729
Print ISBN:
0-7803-2988-0
INSPEC Accession Number:
5335579
Conference Location :
Minneapolis, MN
Digital Object Identifier :
10.1109/ROBOT.1996.509186
Product Type:
Conference Publications

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