A Hybrid - Control Approach to the Parking Problem of a Wheeled Vehicle Using Limited
نویسندگان
چکیده
In this paper we consider the mobile robot parking problem, i.e., the stabilization of a wheeled vehicle to a given position and orientation, using only visual feedback from low-cost cameras. We take into account the practically most relevant problem of keeping the tracked features in sight of the camera while maneuvering to park the vehicle. This constraint, often neglected in the literature, combines with the non-holonomic nature of the vehicle kinematics in a challenging controller design problem. We provide an effective solution to such a problem by using a combination of previous results on non-smooth control synthesis and recently developed hybrid control techniques. Simulations and experimental results on a laboratory vehicle are reported, showing the practicality of the proposed approach. KEY WORDS—parking of wheeled robots, visual servoing, hybrid control, non-holonomic systems
منابع مشابه
A Hybrid-Control Approach to the Parking Problem of a Wheeled Vehicle Using Limited View-Angle Visual Feedback
— In this paper we consider the mobile robot parking problem, i.e. the stabilization of a wheeled vehicle to a given position and orientation, using only visual feedback from low-cost cameras. The practically most relevant problem of keeping the tracked features in sight of the camera while maneuvering to park the vehicle is taken into account. This constraint, often neglected in the literature...
متن کاملVisual-servoed Parking with Limited View Angle
In this paper the problem of stabilizing a wheeled vehicle of unicycle type to a set point, using only visual feedback, is considered. The practically most relevant problem of keeping the tracked features in sight of the camera while maneuvering to park the vehicle is taken into account. This constraint, often neglected in the literature, combines with the nonholonomic nature of the vehicle kin...
متن کاملStability of Three-Wheeled Vehicles with and without Control System
In this study, stability control of a three-wheeled vehicle with two wheels on the front axle, a three-wheeled vehicle with two wheels on the rear axle, and a standard four-wheeled vehicle are compared. For vehicle dynamics control systems, the direct yaw moment control is considered as a suitable way of controlling the lateral motion of a vehicle during a severe driving maneuver. In accorda...
متن کاملFuzzy Vehicle Dynamic Control for a Three-Wheeled Vehicle Using Tilt Mechanism
Nowadays, the use of small vehicles is spreading among urban areas and one sort of these vehicles are three-wheeled vehicles (TWVs) which can be competitive with four-wheeled urban vehicles (FWVs) in aspects such as smallness, simple manufacturing, and low tire rolling resistance, fuel consumption and so on. The most critical instability associated with TWVs is the roll over. In this paper a ti...
متن کاملUrban Vehicle Congestion Pricing: A Review
Drivers in urban neighborhoods who cruise streets, seeking inexpensive on-street parking create a significant fraction of measured traffic congestion. The solution to this problem is to reduce the total traffic volume including cruising traffic by implementing a congestion pricing scheme: the imposition of a usage fee on a limited-capacity resource during times of high demand. We review the his...
متن کامل