文章基本信息

标题：An Automated Parallel Parking Strategy Using Reach Control Theory * * This research is supported by The Natural Sciences and Engineering Research Council of Canada.
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作者：Melkior Ornik ; Miad Moarref ; Mireille E. Broucke 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2017
卷号：50
期号：1
页码：9089-9094
DOI：10.1016/j.ifacol.2017.08.1699
语种：English
出版社：Elsevier
摘要：AbstractWe propose a novel method of parallel parking using reach control theory. Reach control is a hybrid control method to achieve complex control objectives. It relies on triangulating the state space, devising a desired sequence of simplices or polytopes that a trajectory needs to pass through to complete a task, and then constructing a separate closed-loop controller on each polytope that enables the system state to move on to the next member of the sequence. For the parallel parking task, we design a state space consisting of eight polytopes, and we use an automated procedure to construct a continuous piecewise-affine controller for each polytope. Extensive simulations demonstrate the robustness of the approach: a vehicle starting from an acceptable initial position performs the maneuver safely and comes to a stop in the desired parking area.
关键词：KeywordsSwitching ControlAutomated Guided VehiclesPiecewise Affine FeedbackParallel ParkingSafety Analysis