Intelligent Algorithm for Parallel Self-Parking Assist of a Mobile Robot

摘要

This paper proposes the implementation of an algorithm for the parallel self-parking of a tricycle mobile robot. Knowing the dimensions of the mobile robot, our strategy consists in validating the minimal distance required by the robot to perform the parking task. The robotic platform is equipped with an ultrasonic sensor centered in the front part of the robot, that measures the distances in meters between the robot and any obstacle in the scene. Also, we use only that ultrasonic sensor to continuously measure the distance to any obstacle or wall, in order to calculate the necessary maneuvers for parking. An exhaustive analysis of the kinematic model of the robot allows to calculate a more robust and optimal movement for the robot. The main analytical and experimental results, under different scenarios, are provided. At the end of the document, the conclusions and perspectives are discussed.