Cooperative Automatic Parking System Based on Consensus Control with Mutual Exclusion Mechanism

Abstract

A cooperative parking system based on consensus control and mutual exclusion mechanism is developed. The system incorporates the idea of consensus control that has been actively studied in the field of multi-agent control in order to balance the amount of time required for parking. Moreover, the notion of exclusive region is newly introduced to avoid collisions at junctions. The system is evaluated through large-scale simulations and field tests in which multiple personal electric vehicles share position and velocity information via wireless communication network.