Experimental Test of Artificial Potential Field-Based Automobiles Automated Perpendicular Parking | Zendy

Yiqun Dong | Zendy; Youmin Zhang | Zendy; Jianliang Ai | Zendy

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Experimental Test of Artificial Potential Field-Based Automobiles Automated Perpendicular Parking

Author(s) -

Yiqun Dong,

Youmin Zhang,

Jianliang Ai

Publication year - 2016

Publication title -

international journal of vehicular technology

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.182

H-Index - 18

eISSN - 1687-5710

pISSN - 1687-5702

DOI - 10.1155/2016/2306818

Subject(s) - perpendicular , path (computing) , track (disk drive) , kinematics , trajectory , unmanned ground vehicle , engineering , turning radius , simulation , computer science , automotive engineering , artificial intelligence , aerospace engineering , mathematics , physics , mechanical engineering , geometry , classical mechanics , astronomy , programming language

Automobiles automated perpendicular parking using Artificial Potential Field (APF) is discussed in this paper. The Unmanned Ground Vehicle (UGV) used for carrying out experiments is introduced first; UGV configuration, kinematics, and motion controller are included. Based on discretized form of the parking space, the APF is generated. Holonomic path for the vehicle parking is found first; path modification to satisfy minimum turning-radius constraint is performed based on Reeds-Shepp curve connections. Optimization efforts are included to remove extra maneuvers and to reduce length of the path. Afterwards waypoints are generated as reference for the vehicle to track. Perpendicular parking tests with several different start configurations are demonstrated; based on the test results the automated parking framework proposed in this paper is considered to be effective

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