A Local Path Planning for Perpendicular Parking in Limited Parking Spaces
- Resource Type
- Conference
- Authors
- Jeong, Yong Woo; Wook Heo, Hyen; Chung, Chung Choo
- Source
- 2020 20th International Conference on Control, Automation and Systems (ICCAS) Control, Automation and Systems (ICCAS), 2020 20th International Conference on. :38-40 Oct, 2020
- Subject
- Aerospace
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Path planning
Automobiles
Collision avoidance
Space vehicles
Patents
Optimization
Planning
Autonomous Parking
Local Path Planning
Obstacle Avoidance
Nonlinear Optimization
- Language
- ISSN
- 2642-3901
This paper presents a local path planning algorithm for perpendicular parking of an autonomous vehicle. We propose an optimal path planning algorithm based on circle and line combination in the presence of predefined obstacles. We formulate collision avoidance conditions using equality and inequality constraints. We solve a generalized optimization problem with the constraints, which minimizes an arc-length of the parking path. We validate the performance of the perpendicular parking path generation algorithms for various parking spaces in MATLAB environments.