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http://dx.doi.org/10.5573/ieie.2014.51.10.180

Autonomous Parking of Car-Like Mobile Robot Using Docking Formation  

Kwon, Ji-Wook (Yonsei Institute of Convergence Technology)
Kim, Jin Hyo (School of Integrated Technology, Yonsei University, Yonsei Institute of Convergence Technology)
Seo, Jiwon (School of Integrated Technology, Yonsei University, Yonsei Institute of Convergence Technology)
Publication Information
Journal of the Institute of Electronics and Information Engineers / v.51, no.10, 2014 , pp. 180-189 More about this Journal
Abstract
For a autonomous parking of unmanned car, this paper proposes a posture regulation algorithm of a car-like mobile robot, which is supported by a docking formation and a feedback linearization control law. Unlike the previous researches based on a path-planning and optimization algorithms, the autonomous car implemented the proposed autonomous parking algorithm can be parked without much computational burden and a high performance processor. Stability of the proposed docking formation and feedback linearization control law are analyzed and performance of the proposed algorithm is shown by implementing to the simulations with six scenarios and an actual car in the experiment place.
Keywords
Unmanned car; autonomous parking; posture regulation; docking formation; feedback linearization;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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