Automatické parkování automobilu
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Vysoká škola báňská - Technická univerzita Ostrava
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This paper deals with driving a car model with Ackermann steering geometry for automatic parking on the perpendicular and parallel parking place. The algorithm ICP-SLAM is used to solve the robot’s orientation task in space and mapping. The Hokuyo URG-04LX laser range finder is used in the work. The Raspberry Pi 2 is the main control computer. With automatic parking for perpendicular parking places, 93% of success was achieved. For automatic parking for parallel parking places the success rate was evaluated at 76%.
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LIDAR, SLAM, ICP, occupancy grid, Ackermann steering geometry, Least squares, Raspberry Pi, Hokuyo URG-04LX, FRDM-K64F, FRDM-TFC