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http://dx.doi.org/10.7746/jkros.2017.12.2.152

Path Planning for Parking using Multi-dimensional Path Grid Map  

Choi, Jong-An (Mechanical Engineering, Korea University)
Song, Jae-Bok (Mechanical Engineering, Korea University)
Publication Information
The Journal of Korea Robotics Society / v.12, no.2, 2017 , pp. 152-160 More about this Journal
Abstract
Recent studies on automatic parking have actively adopted the technology developed for mobile robots. Among them, the path planning scheme plans a route for a vehicle to reach a target parking position while satisfying the kinematic constraints of the vehicle. However, previous methods require a large amount of computation and/or cannot be easily applied to different environmental conditions. Therefore, there is a need for a path planning scheme that is fast, efficient, and versatile. In this study, we use a multi-dimensional path grid map to solve the above problem. This multi-dimensional path grid map contains a route which has taken a vehicle's kinematic constraints into account; it can be used with the $A^*$ algorithm to plan an efficient path. The proposed method was verified using Prescan which is a simulation program based on MATLAB. It is shown that the proposed scheme can successfully be applied to both parallel and vertical parking in an efficient manner.
Keywords
Path planning; Autonomous parking; $A^*$ algorithm;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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