scholarly journals Navigation Function Used for Parallel Parking in Restricted Area by a Differentially-Driven Mobile Robot

2017 ◽  
Vol 50 (1) ◽  
pp. 4312-4317
Author(s):  
Mateusz Przybyła ◽  
Wojciech Kowalczyk ◽  
Krzysztof Kozłowski
Keyword(s):  
Mobile Robot ◽  
Restricted Area ◽  
Parallel Parking ◽  
Navigation Function

scholarly journals Minimum control effort–based path planning and nonlinear guidance for autonomous mobile robots

2018 ◽  
Vol 15 (6) ◽  
pp. 172988141881263 ◽  
Author(s):  
Paul Quillen ◽  
Kamesh Subbarao
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Predictive Control ◽  
Autonomous Mobile Robots ◽  
Autonomous Mobile Robot ◽  
Control Effort ◽  
Control Approach ◽  
Navigation Function ◽  
Guidance Law ◽  
High Level

This article puts forth a framework using model-based techniques for path planning and guidance for an autonomous mobile robot in a constrained environment. The path plan is synthesized using a numerical navigation function algorithm that will form its potential contour levels based on the “minimum control effort.” Then, an improved nonlinear model predictive control approach is employed to generate high-level guidance commands for the mobile robot to track a trajectory fitted along the planned path leading to the goal. A backstepping-like nonlinear guidance law is also implemented for comparison with the NMPC formulation. Finally, the performance of the resulting framework using both nonlinear guidance techniques is verified in simulation where the environment is constrained by the presence of static obstacles.

Control of the autonomous mobile robot DREAM-1 for a parallel parking

1996 ◽  
Vol 41 (1-2) ◽  
pp. 129-138 ◽  
Author(s):  
Hitoshi Miyata ◽  
Makoto Ohki ◽  
Yasuyuki Yokouchi ◽  
Masaaki Ohkita
Keyword(s):  
Mobile Robot ◽  
Autonomous Mobile Robot ◽  
Parallel Parking

scholarly journals Set-point Control of Mobile Robot with Obstacle Detection and Avoidance Using Navigation Function - Experimental Verification

2016 ◽  
Vol 85 (3-4) ◽  
pp. 539-552 ◽  
Author(s):  
Wojciech Kowalczyk ◽  
Mateusz Przybyla ◽  
Krzysztof Kozlowski
Keyword(s):  
Mobile Robot ◽  
Experimental Verification ◽  
Control Method ◽  
Laser Scanner ◽  
Obstacle Detection ◽  
Navigation Function ◽  
Mobile Robot Control ◽  
Good Potential ◽  
Point Control ◽  
Robot Position

AbstractThis paper presents the results of an experimental verification of mobile robot control algorithm including obstacle detection and avoidance. The controller is based on the navigation potential function that was proposed in work (Urakubo, Nonlinear Dyn. 81(3), 1475–1487 2015). Conducted experiments considered the task of reaching and stabilization of robot in point. The navigation potential agregates information of robot position and orientation but also the repelling potentials of obstacles. The obstacle detection is performed solely with the use of laser scanner. The experiments show that the method can easily handle environments with one or two obstacles even if they instantly hide or show-up due to the scanner range limits. The experiments also indicate that the utilized control method has a good potential for being used in parallel parking task.

A parallel parking system for a car-like robot with sensor guidance

1999 ◽  
Vol 213 (6) ◽  
pp. 591-600 ◽  
Author(s):  
K Jiang ◽  
D Z Zhang ◽  
L D Seneviratne
Keyword(s):  
Mobile Robot ◽  
Free Path ◽  
Parking Space ◽  
Ultrasonic Sensors ◽  
Parallel Parking ◽  
Holonomic Constraints ◽  
Space Motion ◽  
Parking System ◽  
Motion Characteristics ◽  
Three Phases

An automated parallel parking strategy for a car-like mobile robot is presented. The study considers general cases of parallel parking for a rectangular robot within a rectangular space. The system works in three phases. In scanning phase the parking environment is detected by ultrasonic sensors mounted on the robot and a parking position and manoeuvring path is produced if the space is sufficient. Then in the positioning phase the robot reverses to the edge of the parking space, avoiding potential collisions. Finally, in manoeuvring phase the robot moves to the parking position in the parking space in a unified pattern, which may require backward and forward manoeuvres depending on the dimensions of the parking space. Motion characteristics of this kind of robot are modelled, taking into account the non-holonomic constraints acting on the car-like robot. On the basis of the characteristics, a collision-free path is planned in reference to the surroundings. The strategy has been integrated into an automated parking system and implemented in a modified B12 mobile robot capable of safe parking in tight situations. The system is developed for an automated parking device to help vehicle drivers. It also shows the potential to be integrated into automobiles.

Parallel parking assistant system on car-like mobile robot

2011 ◽  
Author(s):  
Mahsa Lotfibonab ◽  
Mohammad Kiyanfar ◽  
Mojtaba Ghodsi ◽  
Parisa Lotfibonab
Keyword(s):  
Mobile Robot ◽  
Parallel Parking
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