Garage parking planning and control of car-like robot using a real time optimization method

Motoji Yamamoto, Yoshiaki Hayashi, Akira Mohri

Research output: Chapter in Book/Report/Conference proceedingConference contribution

14 Citations (Scopus)

Abstract

This paper proposes a planning and control method of garage parking for car-like robot. The garage parking problem of car-like robot is known as a difficult task because of non-holonomic kinematics' constraints of the car-like robot system and it's narrow work space. Especially, consideration of error in the control of the system and consideration of dynamic environment such as unexpected obstacles make the problem more complicated one and hard to treat. For the garage parking problem, we apply receding horizon control method as a real-time optimization. By applying the method, desirable control is realized for the car-like robot's garage parking problem even if there are unexpected obstacles in the work space and there are errors such as slip of tires. We verify the effectiveness using an experimental car-like robot system. The proposed control method is also applicable for an automatic control system of car-like robot in general cluttered environment.

Original languageEnglish
Title of host publication2005 IEEE International Symposium on Assembly and Task Planning, ISATP
Pages248-253
Number of pages6
Publication statusPublished - Dec 1 2005
Event2005 IEEE International Symposium on Assembly and Task Planning, ISATP - Montreal, QC, Canada
Duration: Jul 19 2005Jul 21 2005

Publication series

NameProceedings of the IEEE International Symposium on Assembly and Task Planning
Volume2005

Other

Other2005 IEEE International Symposium on Assembly and Task Planning, ISATP
CountryCanada
CityMontreal, QC
Period7/19/057/21/05

Fingerprint

Railroad cars
Robots
Planning
Tires
Kinematics
Control systems

All Science Journal Classification (ASJC) codes

  • Engineering(all)

Cite this

Yamamoto, M., Hayashi, Y., & Mohri, A. (2005). Garage parking planning and control of car-like robot using a real time optimization method. In 2005 IEEE International Symposium on Assembly and Task Planning, ISATP (pp. 248-253). [1511481] (Proceedings of the IEEE International Symposium on Assembly and Task Planning; Vol. 2005).

Garage parking planning and control of car-like robot using a real time optimization method. / Yamamoto, Motoji; Hayashi, Yoshiaki; Mohri, Akira.

2005 IEEE International Symposium on Assembly and Task Planning, ISATP. 2005. p. 248-253 1511481 (Proceedings of the IEEE International Symposium on Assembly and Task Planning; Vol. 2005).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Yamamoto, M, Hayashi, Y & Mohri, A 2005, Garage parking planning and control of car-like robot using a real time optimization method. in 2005 IEEE International Symposium on Assembly and Task Planning, ISATP., 1511481, Proceedings of the IEEE International Symposium on Assembly and Task Planning, vol. 2005, pp. 248-253, 2005 IEEE International Symposium on Assembly and Task Planning, ISATP, Montreal, QC, Canada, 7/19/05.
Yamamoto M, Hayashi Y, Mohri A. Garage parking planning and control of car-like robot using a real time optimization method. In 2005 IEEE International Symposium on Assembly and Task Planning, ISATP. 2005. p. 248-253. 1511481. (Proceedings of the IEEE International Symposium on Assembly and Task Planning).
Yamamoto, Motoji ; Hayashi, Yoshiaki ; Mohri, Akira. / Garage parking planning and control of car-like robot using a real time optimization method. 2005 IEEE International Symposium on Assembly and Task Planning, ISATP. 2005. pp. 248-253 (Proceedings of the IEEE International Symposium on Assembly and Task Planning).
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