다차원 경로격자지도를 이용한 주차 경로계획 알고리즘Path Planning for Parking using Multi-dimensional Path Grid Map
- Other Titles
- Path Planning for Parking using Multi-dimensional Path Grid Map
- Authors
- 최종안; 송재복
- Issue Date
- 2017
- Publisher
- 한국로봇학회
- Keywords
- Path planning; Autonomous parking; A* algorithm
- Citation
- 로봇학회 논문지, v.12, no.2, pp.152 - 160
- Indexed
- KCI
- Journal Title
- 로봇학회 논문지
- Volume
- 12
- Number
- 2
- Start Page
- 152
- End Page
- 160
- URI
- https://scholar.korea.ac.kr/handle/2021.sw.korea/85712
- ISSN
- 1975-6291
- Abstract
- Recent studies on automatic parking have actively adopted the technology developed for mobile robots. Among them, the path planning scheme plans a route for a vehicle to reach a target parking position while satisfying the kinematic constraints of the vehicle. However, previous methods require a large amount of computation and/or cannot be easily applied to different environmental conditions. Therefore, there is a need for a path planning scheme that is fast, efficient, and versatile. In this study, we use a multi-dimensional path grid map to solve the above problem. This multi-dimensional path grid map contains a route which has taken a vehicle's kinematic constraints into account; it can be used with the A* algorithm to plan an efficient path. The proposed method was verified using Prescan which is a simulation program based on MATLAB. It is shown that the proposed scheme can successfully be applied to both parallel and vertical parking in an efficient manner.
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Collections - College of Engineering > Department of Mechanical Engineering > 1. Journal Articles
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