Performance analysis of path planners for car-like vehicles toward automatic parking control

Authors:
Hyunki Kwon;Woojin Chung
Affiliations:
Mechanical Engineering, Korea University, Seoul, Republic of Korea;Mechanical Engineering, Korea University, Seoul, Republic of Korea
Venue:
Intelligent Service Robotics
Year:
2014

Citing 4
Cited 0

Planning Algorithms

Planning Algorithms
Planning Long Dynamically Feasible Maneuvers for Autonomous Vehicles

International Journal of Robotics Research
Path Planning for Autonomous Vehicles in Unknown Semi-structured Environments

International Journal of Robotics Research
The DARPA Urban Challenge: Autonomous Vehicles in City Traffic

The DARPA Urban Challenge: Autonomous Vehicles in City Traffic

Quantified Score

Hi-index	0.00

Visualization

Abstract

A car parking control problem is difficult because of its non-holonomic constraints and complicated environmental geometry. We proposed Korea University Path Planner (KPP) in our prior work. KPP is an appropriate scheme for a car-like mobile robot in a parking environment. The purpose of this paper is to investigate the advantages of KPP through both quantitative and qualitative analyses. For comparison, numerical simulations have been carried out by the application of KPP and the conventional Rapidly exploring random tree method. This paper shows that KPP exhibits outstanding performance from the viewpoints of travel time and computational time.