Continuous Curvature Trajectory Design and Feedforward Control for Parking a Car

In this paper, a two-step trajectory planning algorithm from robotics literature is applied to generate suitable trajectories for an autonomous parking maneuver of a car. First, a collision-free curve between a given start and a desired goal configuration within the parking space is planned ignoring...

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Bibliographic Details
Published inIEEE transactions on control systems technology Vol. 15; no. 3; pp. 541 - 553
Main Authors Muller, B., Deutscher, J., Grodde, S.
Format Journal Article
LanguageEnglish
Published New York IEEE 01.05.2007
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Algorithms
Automotive engineering
Autonomous
Autonomous parking
Control systems
Curvature
Electrical equipment industry
feedforward control
flat systems
Kinematics
Maneuvers
Meeting planning
Motion control
Motion-planning
nonholonomic systems
Orbital robotics
Parking
Trajectories
Trajectory
Trajectory planning
Velocity control
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Summary:In this paper, a two-step trajectory planning algorithm from robotics literature is applied to generate suitable trajectories for an autonomous parking maneuver of a car. First, a collision-free curve between a given start and a desired goal configuration within the parking space is planned ignoring the kinematic restrictions on the movement of the car. Second, the collision-free curve is converted into a feasible collision-free trajectory, which can be exactly followed by the car. It is shown how this general planning scheme must be adapted to meet the requirements of the automotive industry
Bibliography:ObjectType-Article-2
SourceType-Scholarly Journals-1
ObjectType-Feature-1
content type line 23
ISSN:1063-6536
1558-0865
DOI:10.1109/TCST.2006.890289