Abstract
This paper introduces the perpendicular parking algorithm of car-like robots, such that the generated path consists of a cusp. This path planning is based on the car’s turning radii, which can be determined by the car’s geometry and its maximum steering angle. As far as we know, this paper is novel in developing autonomous perpendicular parking based on circular arc and straight line segments, such that a cusp on the generated path is allowed. Since a cusp is allowed, the proposed parking approach is suitable for parking in a small space. The simulation results show the validity of the proposed approach.
Highlights
Even for experienced drivers, parking can be a difficult task, especially in the case where parking spots are very narrow
This paper introduces the perpendicular parking algorithm of car-like robots, such that the generated path consists of a cusp
As far as we know, this paper is novel in developing autonomous perpendicular parking based on circular arc and straight line segments, such that a cusp on the generated path is allowed
Summary
Even for experienced drivers, parking can be a difficult task, especially in the case where parking spots are very narrow. [3], [18], [20] cannot generate a path with a cusp, which may restrict the car’s motion in a small parking space. This paper introduces the perpendicular parking algorithm of car-like robots, such that the generated path consists of a cusp. Inspired by [21], our approach uses a word to generate a path consist of arcs and straight line segments. We generate a path with multiple motion segments This path planning is based on the car’s minimum turning radii, which can be determined by the car’s geometry and its maximum steering angle. As far as we know, this paper is novel in developing autonomous perpendicular parking based on circular arc and straight line segments, such that a cusp on the generated path is allowed.
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