Motion generation and control for parking an autonomous vehicle
Igor E. Paromtchik, Christian Laugier · 2002
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.