TR2017-121
A two-stage RRT path planner for automated parking
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- "A two-stage RRT path planner for automated parking", IEEE Conference on Automation and Science Engineering, DOI: 10.1109/COASE.2017.8256153, August 2017.BibTeX TR2017-121 PDF
- @inproceedings{Wang2017aug2,
- author = {Wang, Yebin and Jha, Devesh K. and Akemi, Yukiyasu},
- title = {A two-stage RRT path planner for automated parking},
- booktitle = {IEEE Conference on Automation and Science Engineering},
- year = 2017,
- month = aug,
- doi = {10.1109/COASE.2017.8256153},
- url = {https://www.merl.com/publications/TR2017-121}
- }
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- "A two-stage RRT path planner for automated parking", IEEE Conference on Automation and Science Engineering, DOI: 10.1109/COASE.2017.8256153, August 2017.
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Abstract:
Path planning for automated parking remains challenged by the demand to balance general parking scenarios and computational efficiency. This paper proposes a two-stage rapid-exploring random tree (RRT) algorithm to improve the computational efficiency. At first the proposed algorithm performs space exploration and establishes prior knowledge, represented as waypoints, using cheap computation. Secondly a waypoint-guided RRT algorithm, with a sampling scheme biased by the waypoints, constructs a kinematic tree connecting the initial and goal configurations. Numerical study demonstrates that the two-stage algorithm achieves at least 2X faster than the baseline one-stage algorithm.