[SP] Parallel Parking on a Ballistic Trajectory

[datahaki]

Background

The gokart can perform a rapid 90-180[deg] drifting rotation in a small area given a sufficiently high initial speed, for instance 6[m/s]. The maneuver requires synchronized control of the steering wheel and the brake.

Task description

Devise a controller that autonomously parallel parks the gokart by drifting sidewards on dry asphalt. The parking spot is marked by cones.

Related material

1. recorded ground track of gokart when performing a drifting 180[deg] turn
   

2. manual control of parallel parking
   https://www.youtube.com/watch?v=Y9JtUrjoYe0