Reachable Set-based Path Planning for Automated Vertical Parking System

被引:1
|
作者
Oh, In Hyuk [1 ]
Seo, Ju Won [1 ]
Kim, Jin Sung [1 ]
Chung, Chung Choo [2 ]
机构
[1] Hanyang Univ, Dept Elect Engn, Seoul 04763, South Korea
[2] Hanyang Univ, Div Elect & Biomed Engn, Seoul 04763, South Korea
基金
新加坡国家研究基金会;
关键词
D O I
10.1109/ITSC57777.2023.10421866
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
This paper proposes a local path planning method with a reachable set for Automated vertical Parking Systems (APS). First, given a parking lot layout with a goal position, we define an intermediate pose for the APS to accomplish reverse parking with a single maneuver, i.e., without changing the gear shift. Then, we introduce a reachable set which is a set of points consisting of the grid points of all possible intermediate poses. Once the APS approaches the goal position, it must select an intermediate pose in the reachable set. A minimization problem was formulated and solved to choose the intermediate pose. We performed various scenarios with different parking lot conditions. We used the Hybrid-A* algorithm for the global path planning to move the vehicle from the starting pose to the intermediate pose and utilized clothoid-based local path planning to move from the intermediate pose to the goal pose. Additionally, we designed a controller to follow the generated path and validated its tracking performance. It was confirmed that the tracking error in the mean root square for the lateral position was bounded within 0.06m and for orientation within 0.01rad.
引用
收藏
页码:1194 / 1200
页数:7
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