Abstract
Maneuvers of a nonholonomic vehicle in a structured dynamic environment are considered. The paper focuses on motion generation and control methods to autonomously perform lane following/changing and parallel parking maneuvers. Lane following/changing involves the tracking of a nominal trajectory in the traffic lane, and the generation and tracking of local lane-changing trajectories, for instance, for obstacle avoidance. Parallel parking involves a controlled sequence of motions, in order to localize a sufficient parking space, obtain a convenient start location for the vehicle and perform a parallel parking maneuver. The methods developed are tested on an automatic electric vehicle.
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© 1998 Springer-Verlag London Limited
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Paromtchik, I.E., Garnier, P., Laugier, C. (1998). Autonomous maneuvers of a nonholonomic vehicle. In: Casals, A., de Almeida, A.T. (eds) Experimental Robotics V. Lecture Notes in Control and Information Sciences, vol 232. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0112969
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DOI: https://doi.org/10.1007/BFb0112969
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