AUTOMATIC PARKING WITH COLLISION AVOIDANCE

Automatic parking of a car-like robot in the presence of a priori unknown obstacles is the topic of the paper. This problem is solved by means of a bio-inspired approach in which the robot controller does not need to know the car kinematics and dynamics, neither does it call for a priori knowledge of the environment map. The key point in the proposed approach is the definition of performance indexes that for automatic parking happen to be functions of the strategic orientations to be injected, in real time, to the robot controller. This solution leads to a dynamical multicriteria optimization problem, which is extremely hard to be dealt with analytically. A genetic algorithm is therefore applied. The results of computer simulations are finally discussed.