Automatic vehicle perpendicular parking design using saturated control

Abstract : —This paper considers the perpendicular reverse parking problem of front wheel steering vehicles. Relationships between the widths of the parking aisle and the parking place, as well as the parameters and the starting position of the vehicle for planning a collision-free reverse perpendicular parking in one maneuver are presented. A nonlinear saturated (tanh-type) feedback steering controller for straight-line tracking is proposed and evaluated. It is demonstrated that the saturated controller, which is continuous, achieves quick steering can be successfully used in solving parking problems. Simulation results and first experimental tests confirm the effectiveness of the proposed control scheme.
Type de document :
Communication dans un congrès
2015 IEEE Jordan Conference on Applied Electrical Engineering and Computing Technologies (AEECT), Nov 2015, Amman, Jordan. IEEE, 2015, 〈http://ewh.ieee.org/conf/aeect/CFP.html〉. 〈10.1109/AEECT.2015.7360566〉
Liste complète des métadonnées

Littérature citée [7 références]  Voir  Masquer  Télécharger

https://hal.inria.fr/hal-01323011
Contributeur : Fawzi Nashashibi <>
Soumis le : dimanche 29 mai 2016 - 23:27:48
Dernière modification le : vendredi 25 mai 2018 - 12:02:07
Document(s) archivé(s) le : mardi 30 août 2016 - 10:25:17

Fichier

ArticleFawzi_AEECT15_Plamen-Pe...
Fichiers produits par l'(les) auteur(s)

Identifiants

Collections

Citation

Plamen Petrov, Fawzi Nashashibi. Automatic vehicle perpendicular parking design using saturated control. 2015 IEEE Jordan Conference on Applied Electrical Engineering and Computing Technologies (AEECT), Nov 2015, Amman, Jordan. IEEE, 2015, 〈http://ewh.ieee.org/conf/aeect/CFP.html〉. 〈10.1109/AEECT.2015.7360566〉. 〈hal-01323011〉

Partager

Métriques

Consultations de la notice

191

Téléchargements de fichiers

388