A Trajectory Planning Method Based on Forward Path Generation and Backward Tracking Algorithm for Automatic Parking Systems

被引：0
|
作者：
Moon, Jaeyoung [1 ]
Bae, Il [1 ]
Cha, Jae-Gwang [1 ]
Kim, Shiho [1 ]
机构：
[1] Yonsei Univ, Yonsei Inst Convergence Technol, Sch Integrated Technol, Seamless Transportat Lab, Inchon 406840, South Korea
来源：
2014 IEEE 17TH INTERNATIONAL CONFERENCE ON INTELLIGENT TRANSPORTATION SYSTEMS (ITSC) | 2014年
关键词：
CAR;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper proposes a planning method based on forward path generation and backward tracking algorithm for Automatic Parking Systems, especially suitable for backward parking situations. The algorithm is based on the steering property that backward moving trajectory coincides with the forward moving trajectory for the identical steering angle. The basic path planning is divided into two segments: a collision-free locating segment and an entering segment that considers the continuous steering angles for connecting the two paths. MATLAB simulations were conducted, along with experiments involving parallel and perpendicular situations.
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页码：719 / 724
页数：6
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