Abstract
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.
| Original language | British English |
|---|---|
| Pages (from-to) | 189-199 |
| Number of pages | 11 |
| Journal | Proceedings of SPIE - The International Society for Optical Engineering |
| Volume | 3364 |
| DOIs | |
| State | Published - 1998 |
| Event | Enhanced and Synthetic Vision 1998 - Orlando, FL, United States Duration: 13 Apr 1998 → 13 Apr 1998 |
Keywords
- Car-like mobile robots
- Collision avoidance
- Kinematic constraints
- Motion planning
- Parking
- Sensor guidance