This paper presents an automated parking strategy for a car- like mobile robot. The study considers general parking manoeuvre cases for a rectangular robot, including parallel parking. The robot is constructed simulating a conventional car, which is subject to non-holonomic constraints and thus only has two degrees of freedom. The parking space is considered as rectangular, and detected by ultrasonic sensors mounted on the robot. A motion planning algorithm develops a collision-free path for parking, taking into account the non- holonomic constraints acting on the car-like robot. A research into general car maneuvers has been conducted and useful results have been achieved. The motion planning algorithm uses these results, combined with configuration space method, to produce a collision-free path for parallel parking, depending on the parking space detected. A control program in the form of a graphical user interface has been developed for users to operate the system with ease. The strategy is implemented on a modified B12 mobile robot. The strategy presented has the potential for application in automobiles.


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    Title :

    Sensor-guided parking system for a carlike robot


    Contributors:

    Conference:

    Enhanced and Synthetic Vision 1998 ; 1998 ; Orlando,FL,USA


    Published in:

    Proc. SPIE ; 3364 ; 189


    Publication date :

    1998-07-30





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English




    Sensor-guided parking system for a carlike robot [3364-21]

    Jiang, K. / Seneviratne, L. D. / SPIE | British Library Conference Proceedings | 1998




    A Sensor Guided Parallel Parking System for Nonholonomic Vehicles

    Jiang, K. / IEEE | British Library Conference Proceedings | 2000