다차원 경로격자지도를 이용한 주차 경로계획 알고리즘
Path Planning for Parking using Multi-dimensional Path Grid Map
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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.
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.
참고문헌 (8)
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- 박순용, "교통 표지판의 3차원 추적 경로를 이용한 자동차의 주행 차로 추정", 로봇학회 논문지, 11(3), pp.172~182 (2016), 한국로봇학회[DOI]
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- R.N. Jazar, "Vehicle Dynamics: Theory and Application" (2009), Springer
- P.I. Corke, "Robotics, Vision & Control: Fundamental Algorithms in MATLAB" (2011), Springer
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