Multisensor-Based Predictive Control for Autonomous Parking

This article formalizes, under a single common multisensor-based predictive control framework, five different types of parking maneuvers: perpendicular, diagonal for both forward and backward motions, and parallel for backward motions. Since, from a practical point of view, forward parallel parking is usually not advisable, it is not addressed in this work. By moving the effort from motion plannin...