To resolve the problems of path curvature mutation and automatic parking path planning in complex scenes, a novel parking path planning method based on the combination of Reeds-Shepp curve and A-Star algorithm is proposed in this paper. To start with, the points from the planned path are selected based on Reeds-Shepp curve, whereby the planned path is segmented and optimized according to the combination of limited information collected by environmental perception system and A-Star algorithm, then the planned path of automatic parking is executed successfully in complex barriers scenarios. Subsequently, the effectiveness of the segmented path is verified with the adoption of MATLAB and real-vehicle test. It can be seen from the results that the path planned based on the combination of Reeds-Shepp curve and A-Star algorithm is proven to provide a smooth path, superior execution, and high security.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Parking Path Planning Based on Combination of Reeds-Shepp Curve and A-Star Algorithm


    Additional title:

    Sae Technical Papers


    Contributors:
    Yang, Hongtao (author) / Xue, Qihong (author) / Yu, Ting (author) / Huang, Xiangfei (author) / Zhao, Ying (author)

    Conference:

    2022 World General Artificial Intelligence Congress ; 2022



    Publication date :

    2022-06-28




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




    Parking Path Planning Based on Combination of Reeds-Shepp Curve and A-Star Algorithm

    Zhao, Ying / Xue, Qihong / Huang, Xiangfei et al. | British Library Conference Proceedings | 2022


    Parking Path Planning Based on Combination of Reeds-Shepp Curve and A-Star Algorithm

    Zhao, Ying / Xue, Qihong / Huang, Xiangfei et al. | British Library Conference Proceedings | 2022


    Auto parking path planning system using modified Reeds-Shepp curve algorithm

    Kim, Jong Min / Lim, Kyung Il / Kim, Jung Ha | IEEE | 2014