This paper presents a trajectory planning method for automated parking. The proposed method constructs a state roadmap in which each node contains not only position but also orientation information of the vehicle. The roadmap is constructed by dividing the orientation space in multiple resolutions considering the non-holonomic constraints of the vehicle and the collision-avoidance constraints between the vehicle and the boundary of the parking environment. Using the state 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 an experiment using an electric vehicle.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Trajectory planning for automated parking using multi-resolution state roadmap considering non-holonomic constraints


    Beteiligte:
    Fuji, Hiroshi (Autor:in) / Xiang, Jingyu (Autor:in) / Tazaki, Yuichi (Autor:in) / Levedahl, Blaine (Autor:in) / Suzuki, Tatsuya (Autor:in)


    Erscheinungsdatum :

    2014-06-01


    Format / Umfang :

    3217590 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    TRAJECTORY PLANNING FOR AUTOMATED PARKING USING MULTI-RESOLUTION STATE ROADMAP CONSIDERING NON-HOLONOMIC CONSTRAINTS

    Fuji, H. / Xiang, J. / Tazaki, Y. et al. | British Library Conference Proceedings | 2014


    Multi-robot scheduling and trajectory planning using state roadmap

    Tazaki, Yuichi / Suzuki, Tatsuya | IEEE | 2014


    Parking Trajectory Planning Using Multiresolution State Roadmaps

    Tazaki, Yuichi / Okuda, Hiroyuki / Suzuki, Tatsuya | IEEE | 2017