Auto parking path planning system using modified Reeds-Shepp curve algorithm

In this research, Auto-parking path planning system for an autonomous vehicle is developed. Reeds-Shepp curve algorithm make shortest path with the vehicle minimum turning radius and straight line from start point to goal point. In Reeds-Shepp curve algorithm total 48 path formulas are existed but these formulas are limited in actual parking lot. Because Reeds-Shepp curve path are valid in open environment, Reeds-Shepp curve algorithm were modified in this research for effective forward and backward auto parking system. Advantage of the proposed auto parking system is that the vehicle control system have simple command data which let the vehicle move forward, backward, lateral direction and track a travel distance values. In this paper, the algorithm which generate the path in real time from any start point to any goal point is proposed.