Kalman Filter based Path Generation and Tracking Control for Autonomous In-door Valet Parking System

Abstract

This paper presents a path generation method using curve fitting based on Kalman filter of LED way-points and tracking control for autonomous in-door valet parking system. Generally, if the given way-points are either irregular or uncertain, it could generate a discontinuous path that the following vehicle cannot track. To cope with this problem, we propose methods generating virtual way-points and fitting a curve using Kalman filter. Then, we improve tracking performance by using linear-quadratic regulator (LQR) controller. The presented algorithm was evaluated via simulation depicting in-door valet parking system and experiment using a test vehicle in in-door parking space equipped with LED way-points.