A parallel parking system for a car-like robot with sensor guidance

An automated parallel parking strategy for a car-like mobile robot is prese nted. The study considers general cases of parallel parking for a rectangul ar robot within a rectangular space. The system works in three phases. In s canning phase the parking environment is detected by ultrasonic sensors mou nted on the robot and a parking position and manoeuvring path is produced i f the space is sufficient. Then in the positioning phase the robot reverses to the edge of the parking space, avoiding potential collisions. Finally, in manoeuvring phase the robot moves to the parking position in the parking space in a unified pattern, which may require backward and forward manoeuv res depending on the dimensions of the parking space, Motion characteristic s of this kind of robot are modelled, taking into account the non-holonomic constraints acting on the car-like robot. On the basis of the characterist ics, a collision-free path is planned in reference to the surroundings. The strategy has been integrated into an automated parking system and implemen ted in a modified B12 mobile robot capable of safe parking in tight situati ons. The system is developed for an automated parking device to help vehicl e drivers. It also shows the potential to be integrated into automobiles.