Table of Contents
Infrastructures, Volume 5, Issue 5 (May 2020) – 6 articles
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Cover Story (view full-size image) This paper presents models of path and control planning for the parking, docking, and movement of [...] Read more. This paper presents models of path and control planning for the parking, docking, and movement of autonomous vehicles considering space constraints. Bicycle kinematic models for vehicle motion are used for three basic types of vehicles: passenger cars, long wheelbase trucks, and articulated vehicles with and without steered semitrailer axles. Mathematical descriptions of a system of differential equations and expressions for linearization of nonlinear motion equations that accelerate finding the optimal solution are presented. An original algorithm considering numerous constraints was developed to determine vehicle permissible positions within the closed boundaries of a parking area using nonlinear model predictive control. The simulation was used to validate the proposed models.View this paper.