Modified Trajectory Shaping Guidance for autonomous parallel parking

This paper presents a novel and computationally inexpensive method for motion planning of autonomous parallel parking of four wheeled nonholonomic vehicles. The proposed method makes use of Trajectory Shaping Guidance, given in [1] and [2], which was originally developed for missiles to hit the target at a given angle. This paper uses a modified version of Trajectory Shaping Guidance (TSG) for path planning. The method computes a feasible path by inherently considering nonholonomic constraints of the vehicle. Detailed simulation results show the robustness, simplicity and efficiency of the proposed method.