摘要：AbstractThis work has examined the use of navigation function for the motion task of parallel parking performed by mobile robot with kinematic constraints working in two-dimensional environment with obstacles. Classic navigation function (NF) approach assumes omnidirectional robot. In this paper NF extended with orientation component was tested. It can be tuned to guarantee global convergence to the target position with desired orientation. This paper provides results of experiments with simulated as well as physical robot, showing typical behavior of the method, as well as authors’ remarks on its benefits and disadvantages.
关键词：Keywordsmotion controlunicycleparallel parkingobstacle avoidancenavigation function
