Title :
Trajectory generation and feedforward control for parking a car
Author :
Müller, Bernhard ; Deutscher, Joachim ; Grodde, Stefan
Author_Institution :
Lehrstuhl fur Regelungstechnik, Univ. Erlangen-Nurnberg, Erlangen
Abstract :
In this paper a two-step trajectory planning algorithm is applied to generate suitable trajectories for an autonomous parking maneuver of a car. It is shown how important requirements of the automotive industry can be met with the proposed approach. Furthermore, some details on the implementation of the algorithm are given, which are essential to obtain reasonable computation times
Keywords :
automobiles; feedforward; position control; traffic control; automotive industry; autonomous parking maneuver; feedforward control; trajectory generation; trajectory planning; Automotive engineering; Control systems; Controllability; Dynamic programming; Electrical equipment industry; Kinematics; Orbital robotics; Path planning; Trajectory; Velocity control;
Conference_Titel :
Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control, 2006 IEEE
Conference_Location :
Munich
Print_ISBN :
0-7803-9797-5
Electronic_ISBN :
0-7803-9797-5
DOI :
10.1109/CACSD-CCA-ISIC.2006.4776641
