This paper addresses the problem of static curvilinear path generation for parallel parking a car. The car is an autonomous robotic vehicle subject to nonholonomic constraints. A curve for parking a car is derived and examples are shown. Constraints on the curve include initial and final position, orientation and curvature. There is also a constraint on the global curvature extrema; a fifth-order polynomial results. To track the fifth-order polynomial's curvature, the relationship between the curvature of the back and the front of the car is developed. This leads to the introduction of the nonholonomic constraints on the car.<>
Parallel parking with curvature and nonholonomic constraints
1992-01-01
491599 byte
Conference paper
Electronic Resource
English
Autonomous Parallel Parking of a Nonholonomic Vehicle
British Library Conference Proceedings | 1996
|Autonomous parallel parking of a nonholonomic vehicle
IEEE | 1996
|A Sensor Guided Parallel Parking System for Nonholonomic Vehicles
British Library Conference Proceedings | 2000
|