A motion planning algorithm for automatic parallel parking from arbitrary initial posture

Author

Ge, Yanrong ; Chen, Yangzhou ; Dai, Guiping

Author_Institution

Coll. of Electron. Inf. & Control Eng., Beijing Univ. of Technol., Beijing, China

fYear

2011

fDate

21-25 June 2011

Firstpage

769

Lastpage

774

Abstract

This paper presents a motion planning algorithm for automatic parallel parking under given parking environment and arbitrary initial posture, which divides the parking process into two stages, that is, from any initial posture to the target posture through the intermediate posture determined by duplex motion planning strategy. Moreover we employ the shortest path method of motion planning for each stage in the whole parking process. Simulation results show that the algorithm complete the automatic parallel parking under given parking environment and arbitrary initial posture effectively.

Keywords

automated highways; path planning; arbitrary initial posture; automatic parallel parking; duplex motion planning strategy; intermediate posture; motion planning algorithm; parking process; shortest path method; target posture; Control engineering; Educational institutions; Intelligent control; Physics; Planning; Process control; Simulation; automatic parallel parking; duplex motion planning strategy; motion planning algorithm; shortest path method;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation (WCICA), 2011 9th World Congress on

Conference_Location

Taipei

Print_ISBN

978-1-61284-698-9

Type

conf

DOI

10.1109/WCICA.2011.5970618

Filename

5970618