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Autonomous Parking using a Highly Maneuverable Robotic Vehicle

Schaub, Alexander and Ramirez de la Cruz, Juan Carlos and Burschka, Darius (2014) Autonomous Parking using a Highly Maneuverable Robotic Vehicle. In: Proceedings of the 19th IFAC World Congress, pp. 2640-2645. 19th World Congress of the International Federation of Automatic Control, August 24-29, 2014, Cape Town, South Africa. ISSN 1474-6670.

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Official URL: http://dx.doi.org/10.3182/20140824-6-ZA-1003.00800


This work presents a novel autonomous parking concept for a four wheel-steerable robotic electric vehicle called ROboMObil (ROMO). Its extraordinary maneuverability, including rotations and lateral driving, and its capability of autonomous driving is demonstrated in the application of parallel parking. The whole process is described starting with the perception to identify a suitable parking spot in the near environment, planning the maneuver, and executing it autonomously. The proposed parking method is free of assumptions and does not use any information about the environment from an external source. Test results with the real vehicle are presented to show the feasibility of the concept.

Item URL in elib:https://elib.dlr.de/90927/
Document Type:Conference or Workshop Item (Speech)
Title:Autonomous Parking using a Highly Maneuverable Robotic Vehicle
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Schaub, Alexanderalexander.schaub (at) dlr.deUNSPECIFIED
Ramirez de la Cruz, Juan CarlosJuan.RamirezdelaCruz (at) dlr.deUNSPECIFIED
Burschka, Dariusburschka (at) cs.tum.eduUNSPECIFIED
Journal or Publication Title:Proceedings of the 19th IFAC World Congress
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Page Range:pp. 2640-2645
Series Name:IFAC Proceedings Volumes (IFAC-PapersOnline)
Keywords:Autonomous Parking; ROboMObil; Robotic Electric Vehicle
Event Title:19th World Congress of the International Federation of Automatic Control
Event Location:Cape Town, South Africa
Event Type:international Conference
Event Dates:August 24-29, 2014
Organizer:International Federation of Automatic Control (IFAC)
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Vorhaben Intelligente Mobilität (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of System Dynamics and Control > Vehicle System Dynamics
Deposited By: Schaub, Alexander
Deposited On:18 Nov 2014 13:01
Last Modified:23 Feb 2015 16:39

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