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

Gómez-Bravo, Fernando; Cuesta, Federico; Ollero, A.; Viguria, Antidio

doi:10.1016/j.robot.2007.08.004

Cited by 78 publications

(34 citation statements)

References 27 publications

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“…Imposing bounds on xðtÞ has been widely applied with the aim of planning continuous-curvature trajectories in a number of previous publications (e.g., [12,15,16,27]). The rationale behind this issue is that, the instantaneous curvature jðtÞ ¼ sin /ðtÞ l as well as its derivative djðtÞ dt ¼ xðtÞÁcos /ðtÞ l should be bounded so as to avoid generating non-smooth trajectories.…”

Section: Mechanical and Physical Constraintsmentioning

confidence: 99%

“…To briefly summarize here, compared to the prevailing methods that can only deal with specific cases (e.g., [13,15,16,18,20,21,26,27]), our formulated model describes various kinds of cases in a unified way regardless they are regular parking scenarios (i.e., parallel, perpendicular or echelon parking cases) or irregular ones.…”

Section: Collision-free Restrictions In the Environmentmentioning

confidence: 99%

“…The prevailing motion planning methods on the basis of complete environmental knowledge can be broadly classified into three categories: geometric-based methods, heuristic-based methods, and methods based on control theories. Geometric-based approaches commonly compute reference paths first and then generate trajectories following the obtained paths (e.g., [12][13][14][15][16]). Here, a path refers to a geometric curve y ¼ f ðxÞ in the xy coordinate frame, whereas a trajectory attaches the time course along a path, i.e., the determination of x ¼ xðtÞ [17].…”

Section: Introductionmentioning

confidence: 99%

“…First, many existing methods do not solve the motion control problem directly. Typically, those heuristic-based path planning methods suffer from this limitation because kinematic descriptions of the vehicle are either missing or incomplete (e.g., [15,16,[19][20][21]). In fact, quite few works have formulated complete kinematics (e.g., [27]).…”

Section: Introductionmentioning

confidence: 99%

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A unified motion planning method for parking an autonomous vehicle in the presence of irregularly placed obstacles

Shao

2015

Knowledge-Based Systems

140

101

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a b s t r a c tThis paper proposes a motion planner for autonomous parking. Compared to the prevailing and emerging studies that handle specific or regular parking scenarios only, our method describes various kinds of parking cases in a unified way regardless they are regular parking scenarios (e.g., parallel, perpendicular or echelon parking cases) or not. First, we formulate a time-optimal dynamic optimization problem with vehicle kinematics, collision-avoidance conditions and mechanical constraints strictly described. Thereafter, an interior-point simultaneous approach is introduced to solve that formulated dynamic optimization problem. Simulation results validate that our proposed motion planning method can tackle general parking scenarios. The tested parking scenarios in this paper can be regarded as benchmark cases to evaluate the efficiency of methods that may emerge in the future. Our established dynamic optimization problem is an open and unified framework, where other complicated user-specific constraints/optimization criteria can be handled without additional difficulty, provided that they are expressed through inequalities/polynomial explicitly. This proposed motion planner may be suitable for the next-generation intelligent parking-garage system.

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Section: Mechanical and Physical Constraintsmentioning

confidence: 99%

Section: Collision-free Restrictions In the Environmentmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

A unified motion planning method for parking an autonomous vehicle in the presence of irregularly placed obstacles

Shao

2015

Knowledge-Based Systems

140

101

View full text Add to dashboard Cite

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“…De luca et al and Bercemeier [24,25] have experimented with visual guidance and parking although not particularly focusing on parallel parking issue. Recent studies by Gomez-Bravo et al combined artificial intelligence and β-spline curves to generate smooth path for parking [26,27]. In their interesting approach, de Lope and Maravall have used genetic algorithms to generate path for parallel parking [8].…”

Section: Approaches To Parallel Parkingmentioning

confidence: 99%

Development of a Hierarchical Driver Aid for Parallel Parking Using Fuzzy Biomimetic Approach

Özkul¹,

Moqbel²,

Al-Dhafri³

2010

CIT

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The objective of this article is to present the design method of a hierarchical driver aid which is designed to guide the driver of a vehicle to perform parallel parking maneuver. The development philosophy of the system is based on biomimetic model where the designer of the model does not need to be aware of either vehicle dynamics or kinematics. The developed system is based on fuzzy logic and makes its decision based on visual information coming through two low-resolution cameras placed at strategic locations of the vehicle. System evaluates critical parameters and gives real-time, on-the-fly advice to driver, based on position of the vehicle and the intended parking space. The approach is very similar to an expert observing the driver and giving interactive advice about what to do to achieve acceptable parking. The article explains design philosophy, development method used for extracting fuzzy rules, implementation and test results of the developed system.

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Experiences for a User-Friendly Operation of Cassino Hexapod III

Magdaleno

Cafolla

Ceccarelli

et al. 2018

Advances in Service and Industrial Robotics

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

Cited by 78 publications

References 27 publications

A unified motion planning method for parking an autonomous vehicle in the presence of irregularly placed obstacles

A unified motion planning method for parking an autonomous vehicle in the presence of irregularly placed obstacles

Development of a Hierarchical Driver Aid for Parallel Parking Using Fuzzy Biomimetic Approach

Experiences for a User-Friendly Operation of Cassino Hexapod III

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