In this paper, a novel electric autonomous parking robot prototype was proposed, which aims to address the parking hassle caused by the imbalance between the vehicle ownership and the amount of the parking spaces. The...In this paper, a novel electric autonomous parking robot prototype was proposed, which aims to address the parking hassle caused by the imbalance between the vehicle ownership and the amount of the parking spaces. The mechanical structure was elaborately designed to allow the parking robot to adapt to vehicles with different wheelbases and tracks. The electrical structure was constructed with the aim of X-by-wire and distributed component-based control concept. To be capable of autonomous driving, the parking robot software system based on ROS was designed with the capability of environment perception, self-localization and path planning. Furthermore, a simulation environment based on Gazebo was built in order to simplify the development of the parking robot’s autonomous driving algorithms and validate those algorithms’ robustness. Though this parking robot is under the prototype stage, the dispatch strategy and the convenience for parking were also considered. Compared with the state-of-art parking robot, this parking robot is not only capable of working indoor parking lots but also the complex outdoor environments.展开更多
文摘In this paper, a novel electric autonomous parking robot prototype was proposed, which aims to address the parking hassle caused by the imbalance between the vehicle ownership and the amount of the parking spaces. The mechanical structure was elaborately designed to allow the parking robot to adapt to vehicles with different wheelbases and tracks. The electrical structure was constructed with the aim of X-by-wire and distributed component-based control concept. To be capable of autonomous driving, the parking robot software system based on ROS was designed with the capability of environment perception, self-localization and path planning. Furthermore, a simulation environment based on Gazebo was built in order to simplify the development of the parking robot’s autonomous driving algorithms and validate those algorithms’ robustness. Though this parking robot is under the prototype stage, the dispatch strategy and the convenience for parking were also considered. Compared with the state-of-art parking robot, this parking robot is not only capable of working indoor parking lots but also the complex outdoor environments.
