文件名称:
park an autonomous vehicle
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文件大小: 1mb
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上传时间: 2010-01-27
详细说明： 1. A practical approach to motion generation and control for an omnidirectional mobile robot Paromtchik, I.E.; Rembold, U. Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on 8-13 May 1994 Page(s): 2790-2795 vol.4 Digital Object Identifier 10.1109/ROBOT.1994.350916 Abstract Path generation execution and motion control for an omnidirectional mobile robot (vehicle) are considered. Real-time path generation is based on the polynomial spline-interpolation with prediction of velocities of a spl ine-function. The mobile vehicle control is performed with the use of its kinematic model and digital PID-controllers of the wheels. The theoretical approach is illustrated by the obtained experimental results 2. Motion generation and control for parking an autonomous vehicle Paromtchik, I.E.; Laugier, C. Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on Volume: 4 22-28 Apr 1996 Page(s): 3117-3122 vol.4 Digital Object Identifier 10.1109/ROBOT.1996.509186 Abstract Practical aspects of motion generation and control for parking a nonholonomic autonomous vehicle are considered. An iterative algorithm for the parallel parking maneuver is proposed. It is based on ultrasonic range data processing. To control the steering angle and longitudinal velocity of the vehicle during the parking maneuver, sinusoidal reference functions are used. To prevent collisions, the maneuver is carried out as a reactive motion. The developed control is experimentally verified for a LIGIER electric autonomous vehicle 3.Autonomous parallel parking of a nonholonomic vehicle Paromtchik, I.E.; Laugier, C. Intelligent Vehicles Symposium, 1996., Proceedings of the 1996 IEEE 19-20 Sep 1996 Page(s): 13-18 Digital Object Identifier 10.1109/IVS.1996.566343 Abstract This paper addresses a problem of autonomous parking a nonholonomic (car-like) vehicle. This research work is carried out within the framework of the PRAXITELE project which aims to develop a future-oriented urban transportation system based on a fleet of electric computer-driven vehicles. At the present stage of the project, the designed vehicles have been equiped for the computer-driven motion and their autonomous abilities are being worked out. A practical approach to motion generation and control for autonomous parallel parking of a nonholonomic vehicle is proposed. It is based on range measurements to environmental objects around the vehicle. The motion generation and control is considered within the reactive control scheme to avoid collisions with obstacles. The developed approach is tested on a LIGIER electric autonomous vehicle and is illustrated by the experimental results obtained ...展开收缩
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