Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 정정주 | - |
dc.date.accessioned | 2020-10-08T04:52:22Z | - |
dc.date.available | 2020-10-08T04:52:22Z | - |
dc.date.issued | 2019-10 | - |
dc.identifier.citation | 2019 19th International Conference on Control, Automation and Systems (ICCAS), Page. 700-705 | en_US |
dc.identifier.isbn | 978-89-93215-17-5 | - |
dc.identifier.issn | 2642-3901 | - |
dc.identifier.uri | https://ieeexplore.ieee.org/document/8971557 | - |
dc.identifier.uri | https://repository.hanyang.ac.kr/handle/20.500.11754/154468 | - |
dc.description.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. | en_US |
dc.description.sponsorship | This work was partly supported by the Technology Innovation Program funded by the Ministry of Trade, Industry & Energy (MOTIE, Korea) (10052398, In-Door Autonomous Valet Parking with Vehicle Localization and Path Generation for Self Driving and Parking Control) and by Institute for the Information & communications Technology Promotion (IITP) grant funded by the Korea government (MSIT) (No.R7117-16-0164, Development of wide area driving environment awareness and cooperative driving technology which are based on V2X wireless communication). | en_US |
dc.language.iso | en | en_US |
dc.publisher | IEEE | en_US |
dc.subject | Way-point | en_US |
dc.subject | Curve fitting | en_US |
dc.subject | Kalman filter | en_US |
dc.subject | Path generation | en_US |
dc.subject | Tracking control | en_US |
dc.subject | In-door valet parking system | en_US |
dc.title | Kalman Filter based Path Generation and Tracking Control for Autonomous In-door Valet Parking System | en_US |
dc.type | Article | en_US |
dc.identifier.doi | 10.23919/ICCAS47443.2019.8971557 | - |
dc.relation.page | 700-705 | - |
dc.contributor.googleauthor | Kim, Dae Jung | - |
dc.contributor.googleauthor | Lee, Seung-Hi | - |
dc.contributor.googleauthor | Chung, Chung Choo | - |
dc.sector.campus | S | - |
dc.sector.daehak | COLLEGE OF ENGINEERING[S] | - |
dc.sector.department | DIVISION OF ELECTRICAL AND BIOMEDICAL ENGINEERING | - |
dc.identifier.pid | cchung | - |
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