Lab Meeting 1 October (Stanley): Car-parking Motion Planning by the Motion Space Approach

From: ICAR 2007

Author: Dalhyung Kim and Woojin Chung

Abstract:
One of the key technologies of future automobiles is the parking assist or automatic parking control. Control problems of a car-like vehicle are not easy because of the nonholonomic velocity constraints. In this paper, a practical solution for planning a car-parking path is proposed according to the concept of the motion space (M-space). The M-space is the extension of the conventional C-space. A collision-free, nonholonomic feasible path can be directly computed by the M-space conversion and a back-propagation of reachable regions from the goal. The dimension of the search space can be remarkably reduced by proposed assumptions, which were derived by the unique features of parking assist system. The simulation results show that the proposed method is useful for motion planning in the parking space.