GPS-free Stabilization Control for Autonomous Vehicle without Parking Space Marking: Simulation and Experiment

This paper focuses on the stabilization control problem for autonomous vehicles in GPS-denied environments, specifically addressing the challenge of automatic parking without access to parking space marking information. The geometric planning approach is proposed to find alternative reference points for vehicles in the absence of parking space markings. Subsequently, the proposed geometric planning combined with relative pose measurement, is utilized to develop automatic parking control laws for scenarios without parking space marking information. These control laws ensure safe navigation and enable automatic parking in both obstacle-free and obstacle-blocked scenarios. Eventually, the effectiveness and performance of the proposed controllers are validated through numerical simulations and experiments.