Motion planning for car-parking using the slice projection technique

Dalhyung Kim, Woojin Chung

Research output: Chapter in Book/Report/Conference proceedingConference contribution

10 Citations (Scopus)

Abstract

Automatic parking assist system is one of the key technologies in future automobiles. A car-like robot is difficult to control due to the nonholonomic constraints. In this paper, a path planning algorithm based on the slice projection techniqueoptimized particularly for car-parking is proposed. Collision-free region of a nonholonomic motion can be easily computed by using the slice projection technique. Sufficient collision-free, nonholonomic feasible paths can be directly obtained by computing reachable regions by using the slice projection technique for nonholonomic motions from the initial pose. The proposed planning scheme provide not a single solution, but a candidate solution set. Therefore, the parking path can be easily optimized with respect to performance criteria such as safety, maneuvering, and so on. The simulation results clearly show that the proposed scheme provides various practical solutions.

Original languageEnglish
Title of host publication2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Pages1050-1055
Number of pages6
DOIs
Publication statusPublished - 2008
Event2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS - Nice, France
Duration: 2008 Sep 222008 Sep 26

Publication series

Name2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Other

Other2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
CountryFrance
CityNice
Period08/9/2208/9/26

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Kim, D., & Chung, W. (2008). Motion planning for car-parking using the slice projection technique. In 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (pp. 1050-1055). [4650938] (2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS). https://doi.org/10.1109/IROS.2008.4650938