Fast Optimization Based Motion Planning and Path-Tracking Control for Car Parking

This paper presents a car parking control concept for real-time application. It utilizes a two-degrees-of-freedom control scheme consisting of a feedforward and a feedback controller. The reference trajectory is constructed in two steps. First a geometric path is planned by solving a local static optimization problem, which is formulated by discretizing the path. Second a pathfollowing problem in the form of an optimal control problem considering the physical limitations is solved. The solution of this optimal control problem yields the time parametrization of the geometric path. In order to account for model uncertainties and disturbances, a Lyapunovbased feedback controller is designed for the trajectory error system. Simulation studies show the applicability and efficiency of the proposed approach.