This paper presents a trajectory planning method for automated parking that makes use of multiresolution roadmaps. The proposed roadmap generation algorithm takes as an input manually designed geometric information of a parking lot consisting of parking space layout, obstacle configuration, and a set of geometric features called guidelines. It constructs a roadmap by dividing the guidelines in multiple resolutions until it achieves enough coverage over the set of safe trajectories satisfying vehicle kinematics, curvature limit, and collision-avoidance. Using this roadmap, a complex parking trajectory composed of both forward and reverse motions can be computed with small online computation cost. The proposed method is evaluated in both numerical simulations and real experiments.


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    Titel :

    Parking Trajectory Planning Using Multiresolution State Roadmaps


    Beteiligte:
    Tazaki, Yuichi (Autor:in) / Okuda, Hiroyuki (Autor:in) / Suzuki, Tatsuya (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    01.12.2017


    Format / Umfang :

    694792 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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