Duplex motion planning strategy for automatic manoeuvre of vehicle in complex environment

A new strategy of duplex motion planning is presented in this paper. The basic philosophy is to (once or successively) divide the environment into two zones: highly constrained zone (eg. space around a parking slot) that contains either the initial or final configuration, and lightly constrained environment (eg., road near a parking slot) that contains either the final or initial configuration. The strategy of duplex motion planning suggests that it is much simpler and easier if the motion planning starts with the configuration located inside the highly constrained zone. In this paper, our proposed strategy is illustrated by using the automatic parking manoeuvre as an example. It turns out that the duplex motion planning strategy generates practical solutions in a very simple and, fast way regardless the complexity of the environment. Another advantage of the proposed strategy is to obtain the motions that are executable for both of the cases either from the initial configuration to the final configuration, or from the final configuration to the initial configuration