Performance analysis of path planners for autonomous parking control

Path planning for autonomous parking control is difficult and complicated because of its non-holonomic constraints. We proposed the parking path planner KPP (Korea University Path Planner) in our prior work. The purpose of this paper is to prove the advantages of KPP through quantitative and qualitative analyses. Numerical simulations have been carried out for comparison. This paper shows that KPP exhibits outstanding performance from viewpoint of the travel time and the computational time compared with the conventional RRT (Rapidly Exploring Random Tree) method.