Car parking control using a trajectory tracking controller

Kooktae Lee, Dalhyung Kim, Woojin Chung, Hyo Whan Chang, Paljoo Yoon

Research output: Chapter in Book/Report/Conference proceedingConference contribution

34 Citations (Scopus)


One of the key technologies of future automobiles is the parking assist or automatic parking control. Control problems of a car-like vehicle are not easy because of nonholonomic velocity constraints. This paper proposes a parking control strategy which is composed of an open loop path planner and a feedback tracking controller. By employing a trajectory tracking controller for a 2 wheeled robot, a car-like vehicle can be successfully controlled to the desired configuration. Experimental results with a radio controlled model car clearly show that the proposed control scheme is practically useful.

Original languageEnglish
Title of host publication2006 SICE-ICASE International Joint Conference
Number of pages6
Publication statusPublished - 2006
Event2006 SICE-ICASE International Joint Conference - Busan, Korea, Republic of
Duration: 2006 Oct 182006 Oct 21

Publication series

Name2006 SICE-ICASE International Joint Conference


Other2006 SICE-ICASE International Joint Conference
Country/TerritoryKorea, Republic of


  • Car-like vehicle
  • Nonholonomic constraints
  • Parking control
  • Tracking controller

ASJC Scopus subject areas

  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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