This paper proposes a multi-optimization approach to the autonomous parking of car-like vehicles. It uses a polynomial curve primitive - the η 3-spline - to build up intrinsically feasible path maneuvers over which to minimize with a weighted sum method the total length of parking paths and the moduli of the maximum path curvature and curvature derivative. The approach takes into account the mandatory constraint of obstacle avoidance and maximal steering angle and the constraint of maximal curvature derivative which is a selectable limit to ensure the desired smoothness of the parking paths. Simulation results are included for a garage parking example. © 2011 IEEE.
Multi-optimization of eta3-splines for autonomous parking / Lini, G.; Piazzi, A.; Consolini, L.. - STAMPA. - (2011), pp. 6161095.6367-6161095.6372. (Intervento presentato al convegno 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011 tenutosi a Orlando, FL, usa nel 2011) [10.1109/CDC.2011.6161095].
Multi-optimization of eta3-splines for autonomous parking
Lini G.;Piazzi A.
;Consolini L.
2011-01-01
Abstract
This paper proposes a multi-optimization approach to the autonomous parking of car-like vehicles. It uses a polynomial curve primitive - the η 3-spline - to build up intrinsically feasible path maneuvers over which to minimize with a weighted sum method the total length of parking paths and the moduli of the maximum path curvature and curvature derivative. The approach takes into account the mandatory constraint of obstacle avoidance and maximal steering angle and the constraint of maximal curvature derivative which is a selectable limit to ensure the desired smoothness of the parking paths. Simulation results are included for a garage parking example. © 2011 IEEE.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
