13.05.2018 Views

merged

You also want an ePaper? Increase the reach of your titles

YUMPU automatically turns print PDFs into web optimized ePapers that Google loves.

Path Planning for Automatic Parallel Parking in One Trial<br />

Wan Nor Nabila Nadia Binti Wan Zuki<br />

Supervisor: Dr. Fatimah Noor Binti Harun<br />

Bachelor of Science (Computational Mathematics)<br />

School of Informatics and Applied Mathematics<br />

This study deals with path planning for parallel parking problem on the Parking Assist<br />

System and identify the minimum length of the parking space to park a car in one trial.<br />

This path planning method is based on a geometric approach such as minimal turning<br />

radii, which can be determined by the geometry of a vehicle and its maximum steering<br />

angle. The main strategy for parallel parking comes from retrieving a car from the parking<br />

slot and the process is reversible that can be used in parallel parking maneuvering. The<br />

fundamental of geometry of circular concept is used to form the s-shaped trajectory<br />

parking path by the two identical circles tangentially connected. As a conclusion, the<br />

proposed planning method is independent because it does not depend on the initial<br />

position of the car, but the car must be parallel with the parking space of standing car.<br />

1011 | UMT UNDERGRADUATE RESEARCH DAY 2018

Hooray! Your file is uploaded and ready to be published.

Saved successfully!

Ooh no, something went wrong!