Continuous curvature path generation based on ß-spline curves for parking manoeuvres

  • Authors:

  • F. Gómez-Bravo;F. Cuesta;A. Ollero;A. Viguria

  • Affiliations:

  • Department of Ingeniería Electrónica, Sistemas Informáticos y Automática. Escuela Politécnica Superior, Univ. de Huelva. Carretera de Palos-La Rábida s/n., E-21071 Hu ...;Department of Ingeniería de Sistemas y Automática, Escuela Superior de Ingenieros, Universidad de Sevilla, Camino de los Descubrimientos, E-41092 Sevilla, Spain;Department of Ingeniería de Sistemas y Automática, Escuela Superior de Ingenieros, Universidad de Sevilla, Camino de los Descubrimientos, E-41092 Sevilla, Spain;Department of Ingeniería de Sistemas y Automática, Escuela Superior de Ingenieros, Universidad de Sevilla, Camino de los Descubrimientos, E-41092 Sevilla, Spain

  • Venue:
  • Robotics and Autonomous Systems
  • Year:
  • 2008

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Abstract

This paper focuses attention on continuous curvature path generation for parallel parking manoeuvres of autonomous conventional vehicles. The method is based on @b-spline curves generation from a collision-free path previously calculated. Several constraints have been considered in order to ensure the existence of collision-free and admissible curves. The efficiency of the proposed method is demonstrated using the nonholonomic autonomous vehicles ROMEO-3R and ROMEO-4R designed and built at the University of Seville.