TR2017-121

A two-stage RRT path planner for automated parking


    •  Wang, Y., Jha, D.K., Akemi, Y., "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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    Control

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.