Real Time Localization, Path Planning and Motion Control for Autonomous Parking in Cluttered Environment with Narrow Passages

被引：0

作者：

Nejad, Hossein Tehrani Nick ^{[1
]}

Quoc Huy Do ^{[2
]}

Sakai, Ryohei ^{[2
]}

Han, Long ^{[2
]}

Mita, Seiichi ^{[2
]}

机构：

[1] DENSO CORP, Corp R&D Dive 3, Kariya, Aichi, Japan

[2] Toyota Technol Inst, Nagoya, Aichi 4688511, Japan

来源：

2012 15TH INTERNATIONAL IEEE CONFERENCE ON INTELLIGENT TRANSPORTATION SYSTEMS (ITSC) | 2012年

关键词：

GENERATION; DESIGN;

D O I：

暂无

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 propose a novel practical method for autonomous parking in cluttered environment with narrow passages. We present a modified FastSLAM algorithm for environment mapping to reduce the map entropy and increase the localization accuracy for autonomous parking. The proposed path planning method is based on predefined arc paths for real time generation of smooth paths to avoid obstacles. The corresponding control commands are generated to minimize the steering angle control error which executed by the vehicle actuators. The proposed parking method is implemented on an autonomous vehicle platform and evaluated in the different environments with narrow passages.

引用

页码：1357 / 1364

页数：8

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