Motion Control for Autonomous Car Maneuvering

This paper focuses on the control methods for autonomous path following and parallel parking of a carlike vehicle. The methods developed are based on a kinematic model of the vehicle. For the path following, a time parameterization of a given path is performed. The proposed control algorithm exponentially stabilizes the motion of the vehicle to the desired feasible path. The autonomous parking is performed as a sequence of controlled motions using sensor data from the car servo-systems and range measurements of the local environment. The methods developed are tested on an experimental automatic car. 1 Introduction The problem of autonomous car maneuvering attracts a great deal of attention from the research community because of the complexity of this problem for car-like (or nonholonomic) vehicles and the objective of numerous practical applications. A car-like vehicle is a system with a non-integrable velocity constraint [1], [2]. By Brockett's necessary stability conditions [3], su..