Autonomous Garage Parking of a Car-Like Robot Using a Fuzzy PD + I Controller

Ballinas, Enrique; Montiel, Oscar; Rubio, Yoshio

doi:10.1007/978-3-030-35445-9_25

Cited by 10 publications

(14 citation statements)

References 16 publications

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“…Extensive research has been conducted for path planning for automated parking, which is now a reality in many cities [34][35][36][37][38]. Automated parking aims to eliminate the influence of human factors, improve the quality and accuracy of control, and reduce the maneuver time by optimizing vehicle path in restricted parking zones.…”

Section: Path Planningmentioning

confidence: 99%

Visibility-Based Technologies and Methodologies for Autonomous Driving

Easa¹,

Ma²,

Elshorbagy³

et al. 2021

Artificial Intelligence

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The three main elements of autonomous vehicles (AV) are orientation, visibility, and decision. This chapter presents an overview of the implementation of visibility-based technologies and methodologies. The chapter first presents two fundamental aspects that are necessary for understanding the main contents. The first aspect is highway geometric design as it relates to sight distance and highway alignment. The second aspect is mathematical basics, including coordinate transformation and visual space segmentation. Details on the Light Detection and Ranging (Lidar) system, which represents the ‘eye’ of the AV are presented. In particular, a new Lidar 3D mapping system, that can be operated on different platforms and modes for a new mapping scheme is described. The visibility methodologies include two types. Infrastructure visibility mainly addresses high-precision maps and sight obstacle detection. Traffic visibility (vehicles, pedestrians, and cyclists) addresses identification of critical positions and visibility estimation. Then, an overview of the decision element (path planning and intelligent car-following) for the movement of AV is presented. The chapter provides important information for researchers and therefore should help to advance road safety for autonomous vehicles.

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Section: Path Planningmentioning

confidence: 99%

Visibility-Based Technologies and Methodologies for Autonomous Driving

Easa¹,

Ma²,

Elshorbagy³

et al. 2021

Artificial Intelligence

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“…To obtain the Jacobian, similar to Eqs. (8)(9)(10)(11)(12)(13), the linearization of Eq. (39) is first obtained by letting, Then, the matrix A (7×7) has the following nonzero elements:…”

Section: Tractor-semitrailer Vehicle With Semitrailerʹs Steered Axlesmentioning

confidence: 99%

“…For a passenger car, the only parameter is the longitudinal wheelbase L which equals 2.8 m. Eqs. (7)(8)(9)(10)(11)(12)(13)(14) are used for model prediction. For the parking maneuver (Figure 3, 4a, b), the quadratic linear form of the cost function works well while optimizing without restrictions when the minimum of a cost function is absolute.…”

Section: Simulation Of Passenger Carmentioning

confidence: 99%

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Path and Control Planning for Autonomous Vehicles in Restricted Space and Low Speed

Diachuk¹,

Easa²,

Bannis³

2020

Preprint

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The paper presents models of path and control planning for parking, docking, and movement of autonomous vehicles at low speeds considering space constraints. Given the low speed of motion, and in order to test and approve the proposed algorithms, vehicle kinematic models are used. Recent works on the development of parking algorithms for autonomous vehicles are reviewed. Bicycle kinematic models for vehicle motion are considered for three basic types of vehicles: passenger car, long wheelbase truck, and articulated vehicles with and without steered semitrailer axes. Mathematical descriptions of systems of differential equations in matrix form and expressions for determining the linearization elements of nonlinear motion equations that increase the speed of finding the optimal solution are presented. Options are proposed for describing the interaction of vehicle overall dimensions with the space boundaries, within which a maneuver should be performed. An original algorithm that considers numerous constraints is developed for determining vehicle permissible positions within the closed boundaries of the parking area, which are directly used in the iterative process of searching for the optimal plan solution using nonlinear model predictive control (NMPC). The process of using NMPC to find the best trajectories and control laws while moving in a semi-limited space of constant curvature (turnabouts, roundabouts) are described. Simulation tests were used to validate the proposed models for both constrained and unconstrained conditions and the output (state-space) and control parameters' dependencies are shown. The proposed models represent an initial effort to model the movement of autonomous vehicles for parking and has the potential for other highway applications.

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“…In some solutions in the field of automatic parking, artificial intelligence methods are used. An example of such work is [1], in which a fuzzy PD+I controller was applied for parallel parking. In paper [12], a reinforcement learning-based end-to-end parking algorithm was proposed to achieve automatic parking.…”

Section: Introductionmentioning

confidence: 99%

Method of Automatic Parking of a Car â€“ Theoretical Considerations and Simulation Studies

Trojnacki¹

2019

JAMRIS

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The paper is concerned with the problem of automatic parking of a car. Current state of the art in self-driving cars and methods of automatic parking were discussed. For simulation studies, the kinematic bicycle model of the vehicle was assumed. A method of solving the problem of automatic parking was proposed. The idea of this method consists in planning characteristic poses of the vehicle and realization of motion between these poses using pose controller. Results of simulation research were presented and discussed, which confirmed the correctness of the approach.

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Autonomous Garage Parking of a Car-Like Robot Using a Fuzzy PD + I Controller

Cited by 10 publications

References 16 publications

Visibility-Based Technologies and Methodologies for Autonomous Driving

Visibility-Based Technologies and Methodologies for Autonomous Driving

Path and Control Planning for Autonomous Vehicles in Restricted Space and Low Speed

Method of Automatic Parking of a Car â€“ Theoretical Considerations and Simulation Studies

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