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

本文讨论了在公交车场中创新的自主公交导航和停车系统，以优化其在狭窄区域内的行驶。定义了车辆的运动学模型。考虑到其尺寸和重量以及所需的百分度精度，基于围绕变化的路径曲率值线性化的模型，设计了一种预测控制器，以执行精确的弯曲路径跟踪，并通过考虑约束条件来保证有限的跟踪误差。该控制器和其他滑动观察器根据行进距离进行设计，从而可以以恒定的精度在任何前进或后退速度下进行操纵。此外，这些观察者不受路径跟踪错误的影响。在现实条件下运行的工业车辆上的实现，