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Street parking for cars
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114 b
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Parallel parking is a difficult manoeuvre for §drivers. The aim of this research was to develop a §system to perform this manoeuvre autonomously, §requiring no driver input at all.§§The stages of this development were analysis of the §kinematics of vehicles, the design of a simulator §and prototype robot to demonstrate parking and the §development of parking algorithms to achieve reverse-§parallel parking at or above the standard of the §learner drivers logbook.§§Equations were derived to describe the motion of a §vehicle. These were tested in a flexible Matlab §simulation.§§A remote control car was modified to be controlled §via command line inputs or uploaded control §law. A complete and successful set of laws has §been documented and used to demonstrate the §prototype robot in a parking scenario.§§The final algorithms were able to successfully park §the vehicle utilising only an ultrasonic sensor and §encoders on the rear wheels. Calculations and §parking are performed in real-time, taking §substantially less time than a human driver would. §This was only possible due to development of a §highly optimised transform to analyse the sensor §data.
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