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.
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Submitted on : Sunday, May 29, 2016 - 11:27:48 PM
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Plamen Petrov, Fawzi Nashashibi. Automatic vehicle perpendicular parking design using saturated control. 2015 IEEE Jordan Conference on Applied Electrical Engineering and Computing Technologies (AEECT), IEEE Jordan section, Nov 2015, Amman, Jordan. ⟨10.1109/AEECT.2015.7360566⟩. ⟨hal-01323011⟩

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