Hierarchical Control of Trajectory Planning and Trajectory Tracking for Autonomous Parallel Parking

Hierarchical Control of Trajectory Planning and Trajectory Tracking for Autonomous Parallel Parking

For the parallel parking problem in narrow space, this paper proposes a trajectory tracking control method with a novel trajectory planning layer for autonomous parallel parking based on a numerical optimization algorithm and model predictive control. In the trajectory planning layer, the vehicle ki...

Full description

Bibliographic Details
Main Authors: Duoyang Qiu, Duoli Qiu, Bing Wu, Man Gu, Maofei Zhu
Format: Article
Language:English
Published: IEEE 2021-01-01
Series:IEEE Access
Subjects:
Trajectory planning
trajectory tracking
parallel parking
Gauss pseudo-spectral
model predictive control
Online Access:https://ieeexplore.ieee.org/document/9469890/

Internet

https://ieeexplore.ieee.org/document/9469890/

Similar Items