Title :
Bidirectional best first based autonomous parallel parking system
Author :
Vorashompoo, Amom ; Panomruttanarug, Benjamas ; Higuchi, Kohji
Author_Institution :
Dept. of Control Syst. & Instrum. Eng., King Mongkut´´s Univ. of Technol. Thonburi, Bangkok, Thailand
Abstract :
One of the major difficulties with an autonomous reverse parallel parking is how to find a trajectory of travel from start to goal without any collision. In this paper, a bidirectional search is suggested to find the shortest pathway from an initial vertex to a goal vertex in a directed graph, implying that the initial and goal states must be known in advance. In each step for searching, there are three possible nodes generated from the configuration space (or C-space), that the algorithm must decide to traverse to based on a best first search algorithm. Giving a start and goal points, the designed path is obtained by simulation in MATLAB. The experimental results show an ability to perform a parking maneuver using the simulated path.
Keywords :
directed graphs; mobile robots; path planning; search problems; traffic control; C-space; MATLAB; autonomous reverse parallel parking system; bidirectional best first search algorithm; bidirectional search; configuration space; directed graph; path planning; shortest pathway; Joints; MATLAB; Mobile communication; Robots; Reverse parallel parking; best first search; bidirectional; path planning;
Conference_Titel :
Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology (ECTI-CON), 2011 8th International Conference on
Conference_Location :
Khon Kaen
Print_ISBN :
978-1-4577-0425-3
DOI :
10.1109/ECTICON.2011.5947908