Automatic parking is a useful ADAS for cars. This paper proposes a path planning method for automatic parking in narrow space. First, a fast A* algorithm solves discrete path points between a given pair of initial and target vehicle positions. Then, a screening of discrete path points obtains “anchor points” oriented for narrow space parking, based on which continuous and smooth trajectories are generated. Simulation experiments demonstrate that the proposed method can effectively perform path planning for narrow space parking under various initial conditions, and outperforms baseline methods in terms of success rate and planning time.


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    Title :

    Fast A* Anchor Point based Path Planning for Narrow Space Parking


    Contributors:
    He, Jiaping (author) / Li, Hao (author)


    Publication date :

    2021-09-19


    Size :

    1495090 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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