Navigation and Control of a Vehicle to the Parking Place Using Ins

This article discusses possibility of usage of the inertial navigation system for an autonomous navigation of a vehicle to the parking place inside intelligent parking house. Our research has shown that inertial navigation is suitable only for heading and attitude estimation. In order to achieve rel...

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Published inSborník vědeckých prací Vysoké školy báňské--Technické univerzity Ostrava. Řada strojní Vol. 61; no. 2; pp. 35 - 41
Main Authors Pirník, Rastislav, Hruboš, Marián, Nemec, Dušan
Format Journal Article
LanguageEnglish
Published VSB-Technical University of Ostrava 30.12.2015
Subjects
automated parking
inertial navigation
motion control
sensor fusion
sensors
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Summary:This article discusses possibility of usage of the inertial navigation system for an autonomous navigation of a vehicle to the parking place inside intelligent parking house. Our research has shown that inertial navigation is suitable only for heading and attitude estimation. In order to achieve reliable and precise position estimation the additional odometer sensor is required. Article also describes control algorithm which can be used for steering control of the car according to pre-set waypoints. Waypoints have to be placed with respect to the dimensions and overall maneuverability of the vehicle.
ISSN:1210-0471
1804-0993
DOI:10.22223/tr.2015-2/2001