Title :
A motion planning algorithm for automatic parallel parking from arbitrary initial posture
Author :
Ge, Yanrong ; Chen, Yangzhou ; Dai, Guiping
Author_Institution :
Coll. of Electron. Inf. & Control Eng., Beijing Univ. of Technol., Beijing, China
Abstract :
This paper presents a motion planning algorithm for automatic parallel parking under given parking environment and arbitrary initial posture, which divides the parking process into two stages, that is, from any initial posture to the target posture through the intermediate posture determined by duplex motion planning strategy. Moreover we employ the shortest path method of motion planning for each stage in the whole parking process. Simulation results show that the algorithm complete the automatic parallel parking under given parking environment and arbitrary initial posture effectively.
Keywords :
automated highways; path planning; arbitrary initial posture; automatic parallel parking; duplex motion planning strategy; intermediate posture; motion planning algorithm; parking process; shortest path method; target posture; Control engineering; Educational institutions; Intelligent control; Physics; Planning; Process control; Simulation; automatic parallel parking; duplex motion planning strategy; motion planning algorithm; shortest path method;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2011 9th World Congress on
Conference_Location :
Taipei
Print_ISBN :
978-1-61284-698-9
DOI :
10.1109/WCICA.2011.5970618
