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Performance analysis of path planners for car-like vehicles toward automatic parking control

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Abstract

A car parking control problem is difficult because of its non-holonomic constraints and complicated environmental geometry. We proposed Korea University Path Planner (KPP) in our prior work. KPP is an appropriate scheme for a car-like mobile robot in a parking environment. The purpose of this paper is to investigate the advantages of KPP through both quantitative and qualitative analyses. For comparison, numerical simulations have been carried out by the application of KPP and the conventional Rapidly exploring random tree method. This paper shows that KPP exhibits outstanding performance from the viewpoints of travel time and computational time.

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Acknowledgments

This research was supported in part by the MKE (The Ministry of Knowledge Economy), Korea, under the Human Resources Development Program for Convergence Robot Specialists support program supervised by the NIPA (National IT Industry Promotion Agency) (NIPA-2013-H1502-13-1001). This work was also supported by the National Research Foundation of Korea (NRF) grant funded by the Korea government (MEST) (2013-029812).

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Authors and Affiliations

  1. Mechanical Engineering, Korea University, Seoul, Republic of Korea

    Hyunki Kwon & Woojin Chung

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  1. Hyunki Kwon
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  2. Woojin Chung
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Correspondence to Woojin Chung.

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Kwon, H., Chung, W. Performance analysis of path planners for car-like vehicles toward automatic parking control. Intel Serv Robotics 7, 15–23 (2014). https://doi.org/10.1007/s11370-013-0140-8

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  • DOI: https://doi.org/10.1007/s11370-013-0140-8

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