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Practical motion planning for car-parking control in narrow environment

Authors
Kim, D.Chung, W.Park, S.
Issue Date
1월-2010
Publisher
INST ENGINEERING TECHNOLOGY-IET
Keywords
mobile robot; motion planning; path planning; car parking
Citation
IET CONTROL THEORY AND APPLICATIONS, v.4, no.1, pp.129 - 139
Indexed
SCIE
SCOPUS
Journal Title
IET CONTROL THEORY AND APPLICATIONS
Volume
4
Number
1
Start Page
129
End Page
139
URI
https://scholar.korea.ac.kr/handle/2021.sw.korea/117262
DOI
10.1049/iet-cta.2008.0380
ISSN
1751-8644
Abstract
The automatic parking assist system is one of the key components in future automobiles. Path planning of a car-like robot is difficult because of non-holonomic constraints. In this study, the authors propose a practical path planning algorithm for the car-parking control problem. Reachable regions from a goal can be easily computed using the proposed scheme. A variety of candidate paths can be generated by using conventional back-propagation scheme. Finally, we can obtain optimal solutions with respect to performance measures such as collision safety, moving distance, control efforts and so forth. The presented simulation results clearly show that the proposed scheme provides useful solutions.
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