Automated Perpendicular Parking System With Approximated Clothoid-Based Local Path Planning
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Kim, Dae Jung | - |
dc.contributor.author | Chung, Chung Choo | - |
dc.date.accessioned | 2022-07-06T11:13:02Z | - |
dc.date.available | 2022-07-06T11:13:02Z | - |
dc.date.created | 2021-05-13 | - |
dc.date.issued | 2021-12 | - |
dc.identifier.issn | 2475-1456 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/140291 | - |
dc.description.abstract | This paper proposes an automated perpendicular parking system using approximated clothoid-based local path planning and a virtual towing method. Clothoid path planning provides smooth maneuvering, but we cannot obtain a closed-form solution. Further, it costs computational overhead. To cope with these problems, we present a novel vehicle control algorithm with approximated clothoid-based local path planning. We show that a parking control system could be presented as a closed-loop system by integrating path planning and control. The closed-loop system is represented as a discrete linear time-varying system and its stability is proved using the Lyapunov stability theorem. In the proposed system, we also see that a numerical singularity problem may incur, which could bring undesirable steering. To avoid numerical singularity, we also propose a virtual towing method. From numerical simulations, we show that the vehicle converges smoothly to the parking spot. | - |
dc.language | 영어 | - |
dc.language.iso | en | - |
dc.publisher | Institute of Electrical and Electronics Engineers Inc. | - |
dc.title | Automated Perpendicular Parking System With Approximated Clothoid-Based Local Path Planning | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Chung, Chung Choo | - |
dc.identifier.doi | 10.1109/LCSYS.2020.3044254 | - |
dc.identifier.scopusid | 2-s2.0-85098791477 | - |
dc.identifier.wosid | 000628966400006 | - |
dc.identifier.bibliographicCitation | IEEE Control Systems Letters, v.5, no.6, pp.1940 - 1945 | - |
dc.relation.isPartOf | IEEE Control Systems Letters | - |
dc.citation.title | IEEE Control Systems Letters | - |
dc.citation.volume | 5 | - |
dc.citation.number | 6 | - |
dc.citation.startPage | 1940 | - |
dc.citation.endPage | 1945 | - |
dc.type.rims | ART | - |
dc.type.docType | Article in Press | - |
dc.description.journalClass | 1 | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Automation & Control Systems | - |
dc.relation.journalWebOfScienceCategory | Automation & Control Systems | - |
dc.subject.keywordPlus | Computation theory | - |
dc.subject.keywordPlus | Control system synthesis | - |
dc.subject.keywordPlus | Maneuverability | - |
dc.subject.keywordPlus | Numerical methods | - |
dc.subject.keywordPlus | Time varying systems | - |
dc.subject.keywordPlus | Closed form solutions | - |
dc.subject.keywordPlus | Computational overheads | - |
dc.subject.keywordPlus | Linear time-varying systems | - |
dc.subject.keywordPlus | Local path-planning | - |
dc.subject.keywordPlus | Lyapunov stability theorem | - |
dc.subject.keywordPlus | Parking control systems | - |
dc.subject.keywordPlus | Path planning and control | - |
dc.subject.keywordPlus | Singularity problems | - |
dc.subject.keywordPlus | Closed loop systems | - |
dc.subject.keywordAuthor | Closed loop systems | - |
dc.subject.keywordAuthor | clothoid path | - |
dc.subject.keywordAuthor | Kinematics | - |
dc.subject.keywordAuthor | Path planning | - |
dc.subject.keywordAuthor | Path planning | - |
dc.subject.keywordAuthor | Roads | - |
dc.subject.keywordAuthor | Robots | - |
dc.subject.keywordAuthor | Time-varying systems | - |
dc.subject.keywordAuthor | valet parking. | - |
dc.subject.keywordAuthor | vehicle control | - |
dc.subject.keywordAuthor | Vehicle dynamics | - |
dc.subject.keywordAuthor | virtual towing | - |
dc.identifier.url | https://ieeexplore.ieee.org/document/9292975 | - |
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.
222, Wangsimni-ro, Seongdong-gu, Seoul, 04763, Korea+82-2-2220-1365
COPYRIGHT © 2021 HANYANG UNIVERSITY.
Certain data included herein are derived from the © Web of Science of Clarivate Analytics. All rights reserved.
You may not copy or re-distribute this material in whole or in part without the prior written consent of Clarivate Analytics.