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.
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https://hal.inria.fr/hal-01689875
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Submitted on : Monday, January 22, 2018 - 3:03:50 PM
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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⟩

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