NDLI: Intelligent Algorithm for Parallel Self-Parking Assist of a Mobile Robot

Content Provider	IEEE Xplore Digital Library
Author	Ibarra-Manzano, M.-A. De-Anda-Cuellar, J.-H. Perez-Ramirez, C.-A. Vera-Almanza, O.-I. Mendoza-Galindo, F.-J. Carbajal-Guillen, M.-A. Almanza-Ojeda, D.-L.
Copyright Year	2012
Description	Author affiliation: Electron. Dept., Univ. of Guanajuato, Salamanca, Mexico (Ibarra-Manzano, M.-A.; De-Anda-Cuellar, J.-H.; Perez-Ramirez, C.-A.; Vera-Almanza, O.-I.; Mendoza-Galindo, F.-J.; Carbajal-Guillen, M.-A.) \|\| Dept. de Ing. Robot., Univ. Politec. de Guanajuato, Cortazar, Mexico (Almanza-Ojeda, D.-L.)
Abstract	This paper proposes the implementation of an algorithm for the parallel self-parking of a tricycle mobile robot. Knowing the dimensions of the mobile robot, our strategy consists in validating the minimal distance required by the robot to perform the parking task. The robotic platform is equipped with an ultrasonic sensor centered in the front part of the robot, that measures the distances in meters between the robot and any obstacle in the scene. Also, we use only that ultrasonic sensor to continuously measure the distance to any obstacle or wall, in order to calculate the necessary maneuvers for parking. An exhaustive analysis of the kinematic model of the robot allows to calculate a more robust and optimal movement for the robot. The main analytical and experimental results, under different scenarios, are provided. At the end of the document, the conclusions and perspectives are discussed.
Sponsorship	IEEE Comput. Soc.
Starting Page	37
Ending Page	41
File Size	734572
Page Count	5
File Format	PDF
ISBN	9781467350969
DOI	10.1109/CERMA.2012.14
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-11-19
Publisher Place	Mexico
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	self-parking mobile robot real-time system ultrasonic sensor
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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