Abstract
This paper addresses the problem of automatic parallel parking by a back-wheel drive vehicle, using a biomimetic model based on direct coupling between vehicle perceptions and actions. This problem is solved by means of a bio-inspired approach in which the vehicle controller does not need to know the car kinematics and dynamics, neither does it call for a priori knowledge of the environment map. The key point in the proposed approach is the definition of performance indices that for automatic parking happen to be functions of the strategic orientations to be injected, in real time, to the car-like robot controller. This solution leads to a dynamic multi-objective optimization problem, which is extremely hard to be dealt with analytically. A genetic algorithm is therefore applied, thanks to which we obtain a very simple and efficient solution. The paper ends with the results of computer simulations.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Deb, K.: Multi-Objective Optimization Using Evolutionary Algorithms. Wiley, New York (2001)
Fonseca, C.M., Fleming, P.J.: Genetic algorithms for multiobjective optimization: Formulation, discussion and generalization. In: Proc. of the 5th Int. Conf. on Genetic Algorithms, pp. 416–423 (1993)
Coello, C.A.: Special Issue on Evolutionary Multiobjective Optimization. IEEE Trans. on Evolutionary Computation 7(2), 97–99 (2003)
Branke, J.: Evolutionary Optimization in Dynamic Environments. Kluwer, Boston (2002)
Jin, Y., Sendhoff, B.: Connectedness, regularity and the success of local search in evolutionary multi-objective optimization. In: Proc. IEEE Congress on Evolutionary Computation (CEC 2003), pp. 1910–1917 (2003)
Maravall, D., De Lope, J., Patricio, M.A.: Competitive Goal Coordination in Automatic Parking. In: Proc. 1st of the European Workshop on Evolutionary Algorithms in Stochastic and Dynamic Environments, EvoSTOC 2004 (2004)
Chipperfield, A., Fleming, P., Pohlheim, H., Fonseca, C.: Genetic Algorithm Toolbox for Matlab, Department of Automatic Control and Systems Engineering, University of Sheffield (1994)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2005 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
de Lope, J., Maravall, D. (2005). Multi-objective Dynamic Optimization for Automatic Parallel Parking. In: Moreno Díaz, R., Pichler, F., Quesada Arencibia, A. (eds) Computer Aided Systems Theory – EUROCAST 2005. EUROCAST 2005. Lecture Notes in Computer Science, vol 3643. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11556985_66
Download citation
DOI: https://doi.org/10.1007/11556985_66
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-29002-5
Online ISBN: 978-3-540-31829-3
eBook Packages: Computer ScienceComputer Science (R0)