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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, 2014-08-24 - 2014-08-29, Cape Town, South Africa. doi: 10.3182/20140824-6-ZA-1003.00800. ISSN 1474-6670.
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Official URL: http://dx.doi.org/10.3182/20140824-6-ZA-1003.00800
Abstract
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/ | ||||||||||||||||
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| Document Type: | Conference or Workshop Item (Speech) | ||||||||||||||||
| Title: | Autonomous Parking using a Highly Maneuverable Robotic Vehicle | ||||||||||||||||
| Authors: |
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| Date: | 2014 | ||||||||||||||||
| Journal or Publication Title: | Proceedings of the 19th IFAC World Congress | ||||||||||||||||
| Refereed publication: | Yes | ||||||||||||||||
| Open Access: | No | ||||||||||||||||
| Gold Open Access: | No | ||||||||||||||||
| In SCOPUS: | Yes | ||||||||||||||||
| In ISI Web of Science: | No | ||||||||||||||||
| DOI: | 10.3182/20140824-6-ZA-1003.00800 | ||||||||||||||||
| Page Range: | pp. 2640-2645 | ||||||||||||||||
| Series Name: | IFAC Proceedings Volumes (IFAC-PapersOnline) | ||||||||||||||||
| ISSN: | 1474-6670 | ||||||||||||||||
| Status: | Published | ||||||||||||||||
| 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 Start Date: | 24 August 2014 | ||||||||||||||||
| Event End Date: | 29 August 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: | 24 Apr 2024 19:56 |
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