2013年12月
A Practical and Optimal Path Planning for Autonomous Parking Using Fast Marching Algorithm and Support Vector Machine
IEICE TRANSACTIONS ON INFORMATION AND SYSTEMS
- ,
- ,
- 巻
- E96D
- 号
- 12
- 開始ページ
- 2795
- 終了ページ
- 2804
- 記述言語
- 英語
- 掲載種別
- 研究論文(学術雑誌)
- DOI
- 10.1587/transinf.E96.D.2795
- 出版者・発行元
- IEICE-INST ELECTRONICS INFORMATION COMMUNICATIONS ENG
This paper proposes a novel practical path planning framework for autonomous parking in cluttered environments with narrow passages. The proposed global path planning method is based on an improved Fast Marching algorithm to generate a path while considering the moving forward and backward maneuver. In addition, the Support Vector Machine is utilized to provide the maximum clearance from obstacles considering the vehicle dynamics to provide a safe and feasible path. The algorithm considers the most critical points in the map and the complexity of the algorithm is not affected by the shape of the obstacles. We also propose an autonomous parking scheme for different parking situation. The method is implemented on autonomous vehicle platform and validated in the real environment with narrow passages.
- リンク情報
- ID情報
-
- DOI : 10.1587/transinf.E96.D.2795
- ISSN : 1745-1361
- J-Global ID : 201402285489197720
- SCOPUS ID : 84889068791
- Web of Science ID : WOS:000329009300032