Abstract:
In this thesis a novel, fast and computationally inexpensive method of
generating the autonomous trajectory for nonholonomic vehicles is proposed. The
proposed algorithm is developed for autonomous parking of nonholonomic (car-like)
vehicles. The proposed method called Modified Trajectory Shaping Guidance is
based on missile guidance laws. The advantage of using guidance law is that it is an
analytical method that requires very less computation since the trajectory is shaped
by using only one parameter (lateral acceleration).
The application areas of the proposed method include autonomous parallel
parking, diagonal parking, docking of mobile robots and autonomous guided
vehicles (AGV). The method is robust and works for different combinations of
parking space and vehicle initial position. Generated path satisfies the
nonholonomic constraints on the motion of vehicle so that the vehicle can actually
follow the path generated by the algorithm
