RRT based Path Planning for Autonomous Parking of Vehicle

被引：0
|
作者：
Zheng, Kaiyu [1 ]
Liu, Shan [1 ]
机构：
[1] Zhejiang Univ, Coll Control Sci & Engn, Hangzhou 310027, Zhejiang, Peoples R China
来源：
PROCEEDINGS OF 2018 IEEE 7TH DATA DRIVEN CONTROL AND LEARNING SYSTEMS CONFERENCE (DDCLS) | 2018年
关键词：
Automatic-parking path planning; non-holonomic constraint; RRT; replanning;
D O I：
暂无
中图分类号：
TP301 [理论、方法];
学科分类号：
081202 ;
摘要：
Path planning is one of the most issues in the automatic parking system for vehicle. This paper presents a path planning method based on rapidly-exploring random tree (RRT) with non-holonomic constraint and kinematics model of vehicle. First, the kinematics model of car parking according to the vehicle kinematics equation is set up, and the non-holonomic constraints are put forward. Based on this model, the RRT algorithm is used to search parking path with the constraints. And then, to optimize the search efficiency, two strategies--target preference and bi-RRT are used and also the cost function is added for optimization. Besides, because of the new detected obstacles, a replanning method is used to replan the path using the feature of the RRT algorithm. Finally, the performance of the proposed method is verified on a simulation model based on matlab.
引用
收藏
页码：627 / 632
页数：6
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