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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    Title :

    Parking Trajectory Planning Using Multiresolution State Roadmaps


    Contributors:

    Published in:

    Publication date :

    2017-12-01


    Size :

    694792 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




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