This paper addresses the problem of automatic parallel parking by a back-wheel drive vehicle, using a biomimetic model based on direct coupling between vehicle perceptions and actions. This problem is solved by means of a bio-inspired approach in which the vehicle controller does not need to know the car kinematics and dynamics, neither does it call for a priori knowledge of the environment map. The key point in the proposed approach is the definition of performance indices that for automatic parking happen to be functions of the strategic orientations to be injected, in real time, to the car-like robot controller. This solution leads to a dynamic multi-objective optimization problem, which is extremely hard to be dealt with analytically. A genetic algorithm is therefore applied, thanks to which the authors obtain a very simple and efficient solution. The paper ends with the results of computer simulations.
Multi-objective dynamic optimization for automatic parallel parking
Dynamische Optimierung mit mehrfacher Zielsetzung für automatisches Einparken von Fahrzeugen
2005
6 Seiten, 7 Quellen
Aufsatz (Konferenz)
Englisch
IEEE | 2003
|British Library Conference Proceedings | 2003
|IEEE | 2016
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