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Autonomous Perpendicular And Parallel Parking Using Multi-Sensor Based Control

Abstract : This paper addresses the perpendicular and parallel parking problems of car-like vehicles for both forward and reverse maneuvers in one trial by improving the work presented in [1] using a multi sensor based controller with a weighted control scheme. The perception problem is discussed briefly considering a Velodyne VLP-16 and a SICK LMS151 as the sensors providing the required exteroceptive information. The results obtained from simulations and real experimentation for different parking scenarios show the validity and potential of the proposed approach.
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Contributor : Olivier Kermorgant <>
Submitted on : Monday, January 22, 2018 - 2:56:01 PM
Last modification on : Tuesday, January 5, 2021 - 4:26:05 PM
Long-term archiving on: : Thursday, May 24, 2018 - 9:07:13 AM


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  • HAL Id : hal-01689850, version 1


David Pérez-Morales, Olivier Kermorgant, Salvador Domínguez-Quijada, Philippe Martinet. Autonomous Perpendicular And Parallel Parking Using Multi-Sensor Based Control. 9th Workshop on Planning, Perception and Navigation for Intelligent Vehicles at IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Sep 2017, Vancouver, Canada. ⟨hal-01689850⟩



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