Fast Planning and Tracking of Complex Autonomous Parking Maneuvers With Optimal Control and Pseudo-Neural Networks
Edoardo Pagot,
Mattia Piccinini,
Enrico Bertolazzi
et al.
Abstract:This paper presents a framework to plan and execute autonomous parking maneuvers in complex parking scenarios. We formulate a minimum-time optimal control problem for trajectory planning, using an indirect optimal control approach. A novel smooth penalty function is devised for collision avoidance with optimal control, and an effective technique is adopted to compute an initial solution guess. The trajectory planning tasks are solved with low computational times, and a dense mesh is used to discretize the doma… Show more
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