Parallel parking assistant system on car-like mobile robot

Abstract

This paper presents an approach to solve semi-active non-holonomic vehicle parking assistant problem. This system can be automatically drive a vehicle and can be used during day or and night. A robust algorithm for this system is developed and embedded controller hardware is designed and programmed to parallel parking maneuver. For this purpose we used the kinematic model of car and then developed it on car-like mobile robot, then designed trajectory for parking maneuver path planning. The path planning includes simple geometric equations. In this approach, infrared distance sensor is mounted on the car to find parking space and used infrared distance sensor for localize the vehicle position and avoid obstacles. Experimental and simulation results show good performance in the algorithm for parking system under parallel parking. Parking maneuver is safer and efficient through using these advanced safety techniques for parking. Simulation results obtained with the presented system are applied for semi-active parking assistance system.