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Kalman Filter based Path Generation and Tracking Control for Autonomous In-door Valet Parking System

Title
Kalman Filter based Path Generation and Tracking Control for Autonomous In-door Valet Parking System
Author
정정주
Keywords
Way-point; Curve fitting; Kalman filter; Path generation; Tracking control; In-door valet parking system
Issue Date
2019-10
Publisher
IEEE
Citation
2019 19th International Conference on Control, Automation and Systems (ICCAS), Page. 700-705
Abstract
This paper presents a path generation method using curve fitting based on Kalman filter of LED way-points and tracking control for autonomous in-door valet parking system. Generally, if the given way-points are either irregular or uncertain, it could generate a discontinuous path that the following vehicle cannot track. To cope with this problem, we propose methods generating virtual way-points and fitting a curve using Kalman filter. Then, we improve tracking performance by using linear-quadratic regulator (LQR) controller. The presented algorithm was evaluated via simulation depicting in-door valet parking system and experiment using a test vehicle in in-door parking space equipped with LED way-points.
URI
https://ieeexplore.ieee.org/document/8971557https://repository.hanyang.ac.kr/handle/20.500.11754/154468
ISBN
978-89-93215-17-5
ISSN
2642-3901
DOI
10.23919/ICCAS47443.2019.8971557
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > ELECTRICAL AND BIOMEDICAL ENGINEERING(전기·생체공학부) > Articles
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