Two-Carrier Cooperative Parking Robot: Design and Implementation

Pengfei Su, Natnael Getasew Tsehay, Wei Wang, Qixiang Zhao, Yangmin Li
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Abstract

Parking robots have been designed to alleviate parking stress in crowded areas. Existing models occupy large spaces and have limited adaptability to uneven ground. This paper aims to enhance the performance of parking robots by proposing a leader-follower-control based two-carrier Cooperative Parking Robot (CPR). In this system, two omnidirectional carriers operate on a tight cooperative transporting algorithm to achieve steady motion in their collaborative handling and transportation of the target car into the designated parking space. The novel CPR was designed, modeled, and implemented. The results indicate that the proposed CPR approached the targeted car and maintained a consistent position and heading angle in its cooperative parking operation at the speed of 0.6 m/s. The parking robot exhibited significant improvement in its adaptability to cars and uneven ground, and its compact configuration reduced its space occupation. Therefore, the proposed CPR has been proven robust for autonomous cooperative parking operations.
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双载波合作停车机器人:设计与实现
停车机器人的设计目的是缓解拥挤区域的停车压力。现有模型占用空间大,对不平地面的适应能力有限。本文提出了一种基于领导者-跟随者-控制的双载体合作停车机器人(CPR),旨在提高停车机器人的性能。在该系统中,两个全向载体采用紧密的合作运输算法,在合作搬运目标汽车并将其运送到指定停车位的过程中实现稳定运动。对新型 CPR 进行了设计、建模和实现。结果表明,拟议的 CPR 以 0.6 m/s 的速度接近目标汽车,并在协同泊车操作中保持一致的位置和方向角。该泊车机器人对汽车和不平地面的适应能力有了显著提高,其紧凑的结构也减少了对空间的占用。因此,所提出的 CPR 在自主合作停车操作中被证明是稳健的。
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