Performance analysis of path planners for autonomous parking control

Hyunki Kwon, Jihoon Seong, Hyunsuk Lee, Woo Jin Chung

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

Abstract

Path planning for autonomous parking control is difficult and complicated because of its non-holonomic constraints. We proposed the parking path planner KPP (Korea University Path Planner) in our prior work. The purpose of this paper is to prove the advantages of KPP through quantitative and qualitative analyses. Numerical simulations have been carried out for comparison. This paper shows that KPP exhibits outstanding performance from viewpoint of the travel time and the computational time compared with the conventional RRT (Rapidly Exploring Random Tree) method.

Original languageEnglish
Title of host publication2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages614-615
Number of pages2
ISBN (Print)9781479953325
DOIs
Publication statusPublished - 1997 Mar 9
Event2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014 - Kuala Lumpur, Malaysia
Duration: 2014 Nov 122014 Nov 15

Other

Other2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014
CountryMalaysia
CityKuala Lumpur
Period14/11/1214/11/15

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Keywords

  • Car-like mobile robot
  • KPP
  • Non-holonomic planning
  • Path Planning
  • RRT

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction

Cite this

Kwon, H., Seong, J., Lee, H., & Chung, W. J. (1997). Performance analysis of path planners for autonomous parking control. In 2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014 (pp. 614-615). [7057504] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/URAI.2014.7057504