A NEW SEQUENTIAL HYBRID CONTROL STRUCTURE FOR CAR AND TRACTOR-TRAILER PARALLEL PARKING

摘要

This paper presents a new sequential hybrid (reactive and planned) control structure for parallel parking manoeuvres in car and tractor-trailer vehicles. This architecture considers non continuous curvature manoeuvres. Thus, stopping the vehicle during manoeuvring in order to change the steering angle is considered. The efficiency of the proposed method is demonstrated using the nonholonomic mobile robot R0ME0-4R, with and without backing-up a trailer, designed and built at the University of Seville.