Implementation of parallel parking system on a car like mobile robot

This paper presents a new parallel parking control system based on a sliding mode control. Two timing laws have been designed to achieve the zero velocity of the vehicle at the initial and final points of parallel parking path. A car like mobile robot has been designed to implement the proposed controller. Simulation and implementation results of this approach, illustrate the effectiveness of proposed control system.

[1]  Oleksandr Dorokhov,et al.  Calculation of Optimal Path for Parallel Car Parking , 2012 .

[2]  Lakmal D. Seneviratne,et al.  A sensor guided autonomous parking system for nonholonomic mobile robots , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[3]  Adrian Filipescu,et al.  Sliding-mode control for trajectory-tracking of a Wheeled Mobile Robot in presence of uncertainties , 2009, 2009 7th Asian Control Conference.

[4]  Ricardo Carelli,et al.  SLAM-based turning strategy in restricted environments for car-like mobile robots , 2010, 2010 IEEE International Conference on Industrial Technology.

[5]  J. Phelawan,et al.  A new technique for distance measurement of between vehicles to vehicles by plate car using image processing , 2012 .

[6]  Saïd Mammar,et al.  Automatic Parallel Parking in Tiny Spots: Path Planning and Control , 2015, IEEE Transactions on Intelligent Transportation Systems.

[7]  Tzuu-Hseng S. Li,et al.  An experimental study on tracking control of two autonomous mobile robots , 1997, Proceedings of the IECON'97 23rd International Conference on Industrial Electronics, Control, and Instrumentation (Cat. No.97CH36066).

[8]  Mohammad Danesh,et al.  Parallel parking of a car-like mobile robot based on the P-domain path tracking controllers , 2016 .

[9]  Jerome T. Marasigan,et al.  Autonomous parallel parking of four wheeled vehicles utilizing adoptive Fuzzy-Neuro control system , 2014, 2014 IEEE REGION 10 SYMPOSIUM.

[10]  I. W. Jamaludin,et al.  Development of an automatic parallel parking system for nonholonomic mobile robot , 2011, International Conference on Electrical, Control and Computer Engineering 2011 (InECCE).