Accurate autonomous navigation strategy dedicated to the storage of buses in a bus center

This paper deals with an innovative autonomous bus navigation and parking system in a depot, order to optimize their movements confined area. The kinematic model of the vehicle is defined. Considering its dimensions weight as well centimetric accuracy required, predictive controller designed, based on linearized around changing path curvature value, perform accurate curved paths tracking limited error guaranteed by consideration constraint. additional sliding observers are designed according distance traveled, allowing maneuvers be performed at any forward or backward speed constant accuracy. In addition, these not affected errors. implementation industrial vehicle, operated under realistic conditions, demonstrates performance robustness this system.