A Study of Autonomous Parking for a 4-Wheel Driven Mobile Robot

This paper deals with the autonomous parallel parking problem of a car-like 4-wheel driven mobile robot. The parking problem corresponds to the point-stabilization problem of nonholonomic system. In this paper, we propose an efficient algorithm for the problem with stability analysis. Also we show parking problem simulation which proves the effectiveness and stability of the algorithm. In the simulation, MFC is utilized with various parking conditions. Using this algorithm, a car-like mobile robot could be controlled to move to a desired posture within a prescribed boundary. The developed system which integrated the control algorithm for parking tested with car-like mobile robot through simulations and experiments.