Automatic Perpendicular and Diagonal Unparking Using a Multi-Sensor-Based Control Approach

Abstract : This paper explores the feasibility of a Multi-Sensor-Based Control (MSBC) approach for addressing forward nonparallel (perpendicular and diagonal) unparking problems of car-like vehicles as an alternative to classical approaches (e.g. path planning based, etc.). The results of individual cases are presented to illustrate the behavior and performance of the proposed approach as well as results from exhaustive simulations to evaluate the convergence and stability. The results presented in this work increase the versatility and validity of our MSBC approach towards a fully autonomous parking system.
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Communication dans un congrès
ICARCV 2018 - The 15 th International Conference on Control, Automation, Robotics and Vision, Nov 2018, Singapore, Singapore
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https://hal.archives-ouvertes.fr/hal-01874140
Contributeur : Olivier Kermorgant <>
Soumis le : vendredi 14 septembre 2018 - 09:36:56
Dernière modification le : mardi 2 octobre 2018 - 15:07:18

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David Pérez-Morales, Olivier Kermorgant, Salvador Domínguez-Quijada, Philippe Martinet. Automatic Perpendicular and Diagonal Unparking Using a Multi-Sensor-Based Control Approach. ICARCV 2018 - The 15 th International Conference on Control, Automation, Robotics and Vision, Nov 2018, Singapore, Singapore. 〈hal-01874140〉

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