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Parking Trajectory Planning Using Multiresolution State Roadmaps
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DOI：10.1109/TIV.2017.2769882.png)
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Abstract
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This paper presents a trajectory planning method for automated parking that makes use of multiresolution roadmaps. The proposed roadmap generation algorithm takes as an input manually designed geometric information of a parking lot consisting of parking space layout, obstacle configuration, and a set of geometric features called guidelines. It constructs a roadmap by dividing the guidelines in multiple resolutions until it achieves enough coverage over the set of safe trajectories satisfying vehicle kinematics, curvature limit, and collision-avoidance. Using this roadmap, a complex parking trajectory composed of both forward and reverse motions can be computed with small online computation cost. The proposed method is evaluated in both numerical simulations and real experiments.
Keywords:
Autonomous parking
trajectory planning
multiresolution roadmaps
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