Autonomous Lane Parking System for Nonholonomic Vehicles

The scope of the project is to model the parallel parking system of nonholonomic vehicles through Embedded Processors. Nonholonomic vehicles are designed by analyzing the nonholonomic constraints and control by using PI controller to achieve the closed loop response. Then the parallel parking of nonholonomic vehicles are established using path planning algorithm. The path planning algorithm is developed based on the data acquired from the sensor. The project clearly explains the Mathematical Modeling of non-holonomic vehicles. There are three important phases involved in order to park the non-holonomic vehicles securely. The first phase is the scanning phase where the vehicle scans the parking atmosphere by the ultrasonic distance sensors. The second phase, which is the positioning phase, will be implemented, where the vehicle will moves forward and backward. The purpose is to adjust the suitable distance from the start point to turn point before continue to maneuvering phase. The parallel parking of nonholonomic vehicles with non-holonomic constraints are implemented through MATLAB programming.