Application of iterative learning control in tracking a Dubin’s path in parallel parking
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Publication Details
Author list: Panomruttanarug B.
Publisher: Springer
Publication year: 2017
Journal: International Journal of Automotive Technology (1229-9138)
Volume number: 18
Issue number: 6
Start page: 1099
End page: 1107
Number of pages: 9
ISSN: 1229-9138
eISSN: 1976-3832
Languages: English-Great Britain (EN-GB)
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Abstract
Intelligent parking assist systems will soon be available for most vehicles on the market. Many optimal parking trajectories and control strategies have been proposed for reverse parking. However, most of these require intensive computation, causing difficulties in practical use. This paper makes use of a classical path planning method to find the shortest parking path, and establishes the possibility of integrating iterative learning control (ILC) to exploit the capability of learning from experience to track the designed path. The effectiveness of the ILC structure is demonstrated by simulation and experiments. Tracking performance is shown to be much improved by using a simple learning control law. ฉ 2017, The Korean Society of Automotive Engineers and Springer-Verlag GmbH Germany.
Keywords
Dubin’s path, Steering control
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