Car parking control using a trajectory tracking controller
- 1 January 2006
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 2058-2063
- https://doi.org/10.1109/sice.2006.315492
Abstract
One of the key technologies of future automobiles is the parking assist or automatic parking control. Control problems of a car-like vehicle are not easy because of nonholonomic velocity constraints. This paper proposes a parking control strategy which is composed of an open loop path planner and a feedback tracking controller. By employing a trajectory tracking controller for a 2 wheeled robot, a car-like vehicle can be successfully controlled to the desired configuration. Experimental results with a radio controlled model car clearly show that the proposed control scheme is practically usefulKeywords
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