This paper presents an automated parking strategy for a car- like mobile robot. The study considers general parking manoeuvre cases for a rectangular robot, including parallel parking. The robot is constructed simulating a conventional car, which is subject to non-holonomic constraints and thus only has two degrees of freedom. The parking space is considered as rectangular, and detected by ultrasonic sensors mounted on the robot. A motion planning algorithm develops a collision-free path for parking, taking into account the non- holonomic constraints acting on the car-like robot. A research into general car maneuvers has been conducted and useful results have been achieved. The motion planning algorithm uses these results, combined with configuration space method, to produce a collision-free path for parallel parking, depending on the parking space detected. A control program in the form of a graphical user interface has been developed for users to operate the system with ease. The strategy is implemented on a modified B12 mobile robot. The strategy presented has the potential for application in automobiles.


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    Titel :

    Sensor-guided parking system for a carlike robot


    Beteiligte:

    Kongress:

    Enhanced and Synthetic Vision 1998 ; 1998 ; Orlando,FL,USA


    Erschienen in:

    Erscheinungsdatum :

    30.07.1998





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Sensor-guided parking system for a carlike robot [3364-21]

    Jiang, K. / Seneviratne, L. D. / SPIE | British Library Conference Proceedings | 1998




    A Sensor Guided Parallel Parking System for Nonholonomic Vehicles

    Jiang, K. / IEEE | British Library Conference Proceedings | 2000