Design of a 6 DoF Multi-Robot Platform for Automated Multistory Valet Parking^*

In a transition phase where autonomous and non-autonomous vehicles coexist, solutions are required to integrate all vehicles into an automotive service network. This paper proposes a solution to integrate non-autonomous vehicles into an automated parking service network during this transition phase. The proposed design consists of four robotic platforms that can adjust their ground clearance and overcome steep sag and crest curves of a ramp in a multistory parking facility, using a differential drive module that combines a drive and a lift function. The robot can move in 6 DoF by controlling the height of each drive module. Kinematics for the redundant motion control of the drive wheels were implemented using an instantaneous center of rotation approach. Manufactured prototypes and simulated models of the robot platforms were used to validate the system’s basic functions.