4輪車自動駐車システムの開発
理論と実験
2004 年 40 巻 12 号 p. 1211-1219
詳細
2004 年 40 巻 12 号 p. 1211-1219
The control of position and orientation angle of 4-wheeled cars is the central part in the development of automatic parking systems which is going to play an important role in ITS. There have been many approaches to this problem from a viewpoint of application of nonholonomic control theory. But there are still some practical problems such as steering angle limitation that need to be addressed. In this paper, a method is proposed to deal with the steering control with a steering angle limitation. The basic idea is to contruct a circle family and let the car approach the circle family that leads to the destination asymptotically. Both theoretical and experimental results are described.
