ICRA 2012 Paper Abstract


Paper WeC06.4

Petrov, Plamen (Technical University - Sofia), Boussard, clément (INRIA), Ammoun, Samer (Modulowatt ingénierie), Nashashibi, Fawzi (INRIA)

A Hybrid Control for Automatic Docking of Electric Vehicles for Recharging

Scheduled for presentation during the Regular Session "Mobile Manipulation: Planning & Control" (WeC06), Wednesday, May 16, 2012, 15:15−15:30, Meeting Room 6 (Oya'te)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on June 20, 2018

Keywords Intelligent Transportation Systems, Energy and Environment-aware Automation, Wheeled Robots


In this paper, we present the architecture of an innovative docking station for electric vehicles recharging and a hybrid control scheme for automatic docking of the vehicles. This work is a part of on-going project concerning the development of a smart charging station for electric vehicles equipped with an automated arm, which connect the vehicle to the charging station, and an infrared beacon system for localizing the automatically maneuvering vehicle in the docking area. The proposed control scheme combines time-optimal (bang-bang) control with continuous time-invariant nonlinear control, which stabilizes the vehicle to a small neighborhood of the docking point. Simulation and experimental results illustrate the effectiveness of the proposed controller



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