Car parking control using a trajectory tracking controller

Kooktae Lee, Dalhyung Kim, Woo Jin Chung, Hyo Whan Chang, Paljoo Yoon

Research output: Chapter in Book/Report/Conference proceedingConference contribution

29 Citations (Scopus)

Abstract

One of the key technologies of future automobiles is the parking assist or automatic parking control. Control problems of a car-like vehicle are not easy because of nonholonomic velocity constraints. This paper proposes a parking control strategy which is composed of an open loop path planner and a feedback tracking controller. By employing a trajectory tracking controller for a 2 wheeled robot, a car-like vehicle can be successfully controlled to the desired configuration. Experimental results with a radio controlled model car clearly show that the proposed control scheme is practically useful.

Original languageEnglish
Title of host publication2006 SICE-ICASE International Joint Conference
Pages2058-2063
Number of pages6
DOIs
Publication statusPublished - 2006 Dec 1
Event2006 SICE-ICASE International Joint Conference - Busan, Korea, Republic of
Duration: 2006 Oct 182006 Oct 21

Other

Other2006 SICE-ICASE International Joint Conference
CountryKorea, Republic of
CityBusan
Period06/10/1806/10/21

Fingerprint

Parking
Railroad cars
Trajectories
Controllers
Automobiles
Robots
Feedback

Keywords

  • Car-like vehicle
  • Nonholonomic constraints
  • Parking control
  • Tracking controller

ASJC Scopus subject areas

  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Lee, K., Kim, D., Chung, W. J., Chang, H. W., & Yoon, P. (2006). Car parking control using a trajectory tracking controller. In 2006 SICE-ICASE International Joint Conference (pp. 2058-2063). [4109026] https://doi.org/10.1109/SICE.2006.315492

Car parking control using a trajectory tracking controller. / Lee, Kooktae; Kim, Dalhyung; Chung, Woo Jin; Chang, Hyo Whan; Yoon, Paljoo.

2006 SICE-ICASE International Joint Conference. 2006. p. 2058-2063 4109026.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Lee, K, Kim, D, Chung, WJ, Chang, HW & Yoon, P 2006, Car parking control using a trajectory tracking controller. in 2006 SICE-ICASE International Joint Conference., 4109026, pp. 2058-2063, 2006 SICE-ICASE International Joint Conference, Busan, Korea, Republic of, 06/10/18. https://doi.org/10.1109/SICE.2006.315492
Lee K, Kim D, Chung WJ, Chang HW, Yoon P. Car parking control using a trajectory tracking controller. In 2006 SICE-ICASE International Joint Conference. 2006. p. 2058-2063. 4109026 https://doi.org/10.1109/SICE.2006.315492
Lee, Kooktae ; Kim, Dalhyung ; Chung, Woo Jin ; Chang, Hyo Whan ; Yoon, Paljoo. / Car parking control using a trajectory tracking controller. 2006 SICE-ICASE International Joint Conference. 2006. pp. 2058-2063
@inproceedings{737c7b482e484ecea4fe9b2ea9bb7c50,
title = "Car parking control using a trajectory tracking controller",
abstract = "One of the key technologies of future automobiles is the parking assist or automatic parking control. Control problems of a car-like vehicle are not easy because of nonholonomic velocity constraints. This paper proposes a parking control strategy which is composed of an open loop path planner and a feedback tracking controller. By employing a trajectory tracking controller for a 2 wheeled robot, a car-like vehicle can be successfully controlled to the desired configuration. Experimental results with a radio controlled model car clearly show that the proposed control scheme is practically useful.",
keywords = "Car-like vehicle, Nonholonomic constraints, Parking control, Tracking controller",
author = "Kooktae Lee and Dalhyung Kim and Chung, {Woo Jin} and Chang, {Hyo Whan} and Paljoo Yoon",
year = "2006",
month = "12",
day = "1",
doi = "10.1109/SICE.2006.315492",
language = "English",
isbn = "8995003855",
pages = "2058--2063",
booktitle = "2006 SICE-ICASE International Joint Conference",

}

TY - GEN

T1 - Car parking control using a trajectory tracking controller

AU - Lee, Kooktae

AU - Kim, Dalhyung

AU - Chung, Woo Jin

AU - Chang, Hyo Whan

AU - Yoon, Paljoo

PY - 2006/12/1

Y1 - 2006/12/1

N2 - One of the key technologies of future automobiles is the parking assist or automatic parking control. Control problems of a car-like vehicle are not easy because of nonholonomic velocity constraints. This paper proposes a parking control strategy which is composed of an open loop path planner and a feedback tracking controller. By employing a trajectory tracking controller for a 2 wheeled robot, a car-like vehicle can be successfully controlled to the desired configuration. Experimental results with a radio controlled model car clearly show that the proposed control scheme is practically useful.

AB - One of the key technologies of future automobiles is the parking assist or automatic parking control. Control problems of a car-like vehicle are not easy because of nonholonomic velocity constraints. This paper proposes a parking control strategy which is composed of an open loop path planner and a feedback tracking controller. By employing a trajectory tracking controller for a 2 wheeled robot, a car-like vehicle can be successfully controlled to the desired configuration. Experimental results with a radio controlled model car clearly show that the proposed control scheme is practically useful.

KW - Car-like vehicle

KW - Nonholonomic constraints

KW - Parking control

KW - Tracking controller

UR - http://www.scopus.com/inward/record.url?scp=34250705718&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=34250705718&partnerID=8YFLogxK

U2 - 10.1109/SICE.2006.315492

DO - 10.1109/SICE.2006.315492

M3 - Conference contribution

SN - 8995003855

SN - 9788995003855

SP - 2058

EP - 2063

BT - 2006 SICE-ICASE International Joint Conference

ER -