Performance analysis of path planners for car-like vehicles toward automatic parking control

Hyunki Kwon; Woojin Chung

doi:10.1007/s11370-013-0140-8

Performance analysis of path planners for car-like vehicles toward automatic parking control

Hyunki Kwon, Woojin Chung

School of Mechanical Engineering

Research output: Contribution to journal › Article › peer-review

11 Citations (Scopus)

Abstract

A car parking control problem is difficult because of its non-holonomic constraints and complicated environmental geometry. We proposed Korea University Path Planner (KPP) in our prior work. KPP is an appropriate scheme for a car-like mobile robot in a parking environment. The purpose of this paper is to investigate the advantages of KPP through both quantitative and qualitative analyses. For comparison, numerical simulations have been carried out by the application of KPP and the conventional Rapidly exploring random tree method. This paper shows that KPP exhibits outstanding performance from the viewpoints of travel time and computational time.

Original language	English
Pages (from-to)	15-23
Number of pages	9
Journal	Intelligent Service Robotics
Volume	7
Issue number	1
DOIs	https://doi.org/10.1007/s11370-013-0140-8
Publication status	Published - 2014 Jan

Keywords

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

ASJC Scopus subject areas

Computational Mechanics
Engineering (miscellaneous)
Mechanical Engineering
Artificial Intelligence

Access to Document

10.1007/s11370-013-0140-8

Cite this

@article{e103ade413a64dce9612313fd77e26ec,

title = "Performance analysis of path planners for car-like vehicles toward automatic parking control",

abstract = "A car parking control problem is difficult because of its non-holonomic constraints and complicated environmental geometry. We proposed Korea University Path Planner (KPP) in our prior work. KPP is an appropriate scheme for a car-like mobile robot in a parking environment. The purpose of this paper is to investigate the advantages of KPP through both quantitative and qualitative analyses. For comparison, numerical simulations have been carried out by the application of KPP and the conventional Rapidly exploring random tree method. This paper shows that KPP exhibits outstanding performance from the viewpoints of travel time and computational time.",

keywords = "Car-like mobile robot, KPP, Non-holonomic planning, Path planning, RRT",

author = "Hyunki Kwon and Woojin Chung",

note = "Funding Information: Acknowledgments This research was supported in part by the MKE (The Ministry of Knowledge Economy), Korea, under the Human Resources Development Program for Convergence Robot Specialists support program supervised by the NIPA (National IT Industry Promotion Agency) (NIPA-2013-H1502-13-1001). This work was also supported by the National Research Foundation of Korea (NRF) grant funded by the Korea government (MEST) (2013-029812).",

year = "2014",

month = jan,

doi = "10.1007/s11370-013-0140-8",

language = "English",

volume = "7",

pages = "15--23",

journal = "Intelligent Service Robotics",

issn = "1861-2776",

publisher = "Springer Verlag",

number = "1",

}

TY - JOUR

T1 - Performance analysis of path planners for car-like vehicles toward automatic parking control

AU - Kwon, Hyunki

AU - Chung, Woojin

N1 - Funding Information: Acknowledgments This research was supported in part by the MKE (The Ministry of Knowledge Economy), Korea, under the Human Resources Development Program for Convergence Robot Specialists support program supervised by the NIPA (National IT Industry Promotion Agency) (NIPA-2013-H1502-13-1001). This work was also supported by the National Research Foundation of Korea (NRF) grant funded by the Korea government (MEST) (2013-029812).

PY - 2014/1

Y1 - 2014/1

N2 - A car parking control problem is difficult because of its non-holonomic constraints and complicated environmental geometry. We proposed Korea University Path Planner (KPP) in our prior work. KPP is an appropriate scheme for a car-like mobile robot in a parking environment. The purpose of this paper is to investigate the advantages of KPP through both quantitative and qualitative analyses. For comparison, numerical simulations have been carried out by the application of KPP and the conventional Rapidly exploring random tree method. This paper shows that KPP exhibits outstanding performance from the viewpoints of travel time and computational time.

AB - A car parking control problem is difficult because of its non-holonomic constraints and complicated environmental geometry. We proposed Korea University Path Planner (KPP) in our prior work. KPP is an appropriate scheme for a car-like mobile robot in a parking environment. The purpose of this paper is to investigate the advantages of KPP through both quantitative and qualitative analyses. For comparison, numerical simulations have been carried out by the application of KPP and the conventional Rapidly exploring random tree method. This paper shows that KPP exhibits outstanding performance from the viewpoints of travel time and computational time.

KW - Car-like mobile robot

KW - KPP

KW - Non-holonomic planning

KW - Path planning

KW - RRT

UR - http://www.scopus.com/inward/record.url?scp=84891873786&partnerID=8YFLogxK

U2 - 10.1007/s11370-013-0140-8

DO - 10.1007/s11370-013-0140-8

M3 - Article

AN - SCOPUS:84891873786

SN - 1861-2776

VL - 7

SP - 15

EP - 23

JO - Intelligent Service Robotics

JF - Intelligent Service Robotics

IS - 1

ER -

Performance analysis of path planners for car-like vehicles toward automatic parking control

Abstract

Keywords

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this