Performance analysis of path planners for autonomous parking control

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

doi:10.1109/URAI.2014.7057504

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 proceeding › Conference 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 language	English
Title of host publication	2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	614-615
Number of pages	2
ISBN (Print)	9781479953325
DOIs	https://doi.org/10.1109/URAI.2014.7057504
Publication status	Published - 1997 Mar 9
Event	2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014 - Kuala Lumpur, Malaysia Duration: 2014 Nov 12 → 2014 Nov 15

Other

Other	2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014
Country/Territory	Malaysia
City	Kuala Lumpur
Period	14/11/12 → 14/11/15

Keywords

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

ASJC Scopus subject areas

Artificial Intelligence
Human-Computer Interaction

Access to Document

10.1109/URAI.2014.7057504

Cite this

Performance analysis of path planners for autonomous parking control. / Kwon, Hyunki; Seong, Jihoon; Lee, Hyunsuk et al.
2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014. Institute of Electrical and Electronics Engineers Inc., 1997. p. 614-615 7057504.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Kwon, H, Seong, J, Lee, H & Chung, WJ 1997, Performance analysis of path planners for autonomous parking control. in 2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014., 7057504, Institute of Electrical and Electronics Engineers Inc., pp. 614-615, 2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014, Kuala Lumpur, Malaysia, 14/11/12. https://doi.org/10.1109/URAI.2014.7057504

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title = "Performance analysis of path planners for autonomous parking control",

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.",

keywords = "Car-like mobile robot, KPP, Non-holonomic planning, Path Planning, RRT",

author = "Hyunki Kwon and Jihoon Seong and Hyunsuk Lee and Chung, {Woo Jin}",

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booktitle = "2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014",

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N2 - 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.

AB - 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.

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Y2 - 12 November 2014 through 15 November 2014

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Performance analysis of path planners for autonomous parking control

Abstract

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Keywords

ASJC Scopus subject areas

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