Laser-Based Control Law For Autonomous Parallel And Perpendicular Parking

Abstract : This paper addresses the perpendicular and parallel parking problems of car-like vehicles for both forward and reverse maneuvers in one trial by extending 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. Furthermore, it is shown that, despite the need of handling several constraints for collision avoidance, the required computation time of the proposed approach is small enough to be used online.
Type de document :
Communication dans un congrès
International Conference on Robotic Computing, Jan 2018, Laguna Hills, United States
Liste complète des métadonnées

Littérature citée [16 références]  Voir  Masquer  Télécharger

https://hal.inria.fr/hal-01689875
Contributeur : Olivier Kermorgant <>
Soumis le : lundi 22 janvier 2018 - 15:03:50
Dernière modification le : mardi 23 janvier 2018 - 09:08:58

Fichier

2018_IRC_Perez-Morales.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

  • HAL Id : hal-01689875, version 1

Collections

Citation

David Pérez-Morales, Olivier Kermorgant, Salvador Domínguez-Quijada, Philippe Martinet. Laser-Based Control Law For Autonomous Parallel And Perpendicular Parking. International Conference on Robotic Computing, Jan 2018, Laguna Hills, United States. 〈hal-01689875〉

Partager

Métriques

Consultations de la notice

64

Téléchargements de fichiers

24