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Multi-Sensor-Based Predictive Control for Autonomous Backward Perpendicular and Diagonal Parking

Abstract : This paper explores the feasibility of a Multi-Sensor-Based Predictive Control (MSBPC) approach for addressing backward nonparallel (perpendicular and diagonal) parking problems of car-like vehicles as an alternative to more classical (e.g. path planning based) approaches. The results of a few individual cases are presented to illustrate the behavior and performance of the proposed approach as well as results from exhaustive simulations to assess its convergence and stability. Indeed, preliminary results are encouraging, showing that the vehicle is able to park successfully from virtually any sensible initial position.
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https://hal.archives-ouvertes.fr/hal-01867303
Contributor : Olivier Kermorgant <>
Submitted on : Tuesday, September 4, 2018 - 11:18:11 AM
Last modification on : Wednesday, April 22, 2020 - 11:16:04 PM
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  • HAL Id : hal-01867303, version 1

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David Pérez-Morales, Salvador Dominguez-Quijada, Olivier Kermorgant, Philippe Martinet. Multi-Sensor-Based Predictive Control for Autonomous Backward Perpendicular and Diagonal Parking. 10th workshop on Planning, Perception and Navigation for Intelligent Vehicles at Int. Conf. on Intelligent Robots and Systems, Oct 2018, Madrid, Spain. ⟨hal-01867303⟩

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