Performance analysis of path planners for autonomous parking control

Hyunki Kwon, Jihoon Seong, Hyunsuk Lee, Woo Jin Chung

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Abstract

    Path planning for autonomous parking control is difficult and complicated because of its non-holonomic constraints. We proposed the parking path planner KPP (Korea University Path Planner) in our prior work. The purpose of this paper is to prove the advantages of KPP through quantitative and qualitative analyses. Numerical simulations have been carried out for comparison. This paper shows that KPP exhibits outstanding performance from viewpoint of the travel time and the computational time compared with the conventional RRT (Rapidly Exploring Random Tree) method.

    Original languageEnglish
    Title of host publication2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages614-615
    Number of pages2
    ISBN (Print)9781479953325
    DOIs
    Publication statusPublished - 1997 Mar 9
    Event2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014 - Kuala Lumpur, Malaysia
    Duration: 2014 Nov 122014 Nov 15

    Other

    Other2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014
    Country/TerritoryMalaysia
    CityKuala Lumpur
    Period14/11/1214/11/15

    Keywords

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

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Human-Computer Interaction

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