NDLI: A Study of Autonomous Parking for a 4-Wheel Driven Mobile Robot

Content Provider	IEEE Xplore Digital Library
Author	Zang Joung Ill Xuan Dong Ji Kim Jin Wan Kim Young Bae
Copyright Year	2007
Description	Author affiliation: Chonnam Nat. Univ., Gwanju (Zang Joung Ill; Xuan Dong Ji; Kim Jin Wan)
Abstract	This paper deals with the autonomous parallel parking problem of a car-like 4-wheel driven mobile robot. The parking problem corresponds to the point-stabilization problem of nonholonomic system. In this paper, we propose an efficient algorithm for the problem with stability analysis. Also we show parking problem simulation which proves the effectiveness and stability of the algorithm. In the simulation, MFC is utilized with various parking conditions. Using this algorithm, a car-like mobile robot could be controlled to move to a desired posture within a prescribed boundary. The developed system which integrated the control algorithm for parking tested with car-like mobile robot through simulations and experiments.
Starting Page	179
Ending Page	184
File Size	712998
Page Count	6
File Format	PDF
ISBN	9787811240559
DOI	10.1109/CHICC.2006.4347281
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-07-26
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	MFC simulation Stability Vehicle driving Open loop systems Control systems Path planning Mobile robots Nonholonomic system control Mechanical engineering Intelligent transportation systems Remotely operated vehicles Autonomous parking Parallel parking Accidents
Content Type	Text
Resource Type	Article

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