Bidirectional best first based autonomous parallel parking system

Conference proceedings article

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Publication Details

Author list: Vorashompoo A., Panomruttanarug B., Higuchi K.

Publisher: Hindawi

Publication year: 2011

Start page: 593

End page: 596

Number of pages: 4

ISBN: 9781457704246

ISSN: 0146-9428

eISSN: 1745-4557

URL: https://www.scopus.com/inward/record.uri?eid=2-s2.0-79961226446&doi=10.1109%2fECTICON.2011.5947908&partnerID=40&md5=f40dbdfda4375534a4c975de1bfbd44a

Languages: English-Great Britain (EN-GB)

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Abstract

One of the major difficulties with an autonomous reverse parallel parking is how to find a trajectory of travel from start to goal without any collision. In this paper, a bidirectional search is suggested to find the shortest pathway from an initial vertex to a goal vertex in a directed graph, implying that the initial and goal states must be known in advance. In each step for searching, there are three possible nodes generated from the configuration space (or C-space), that the algorithm must decide to traverse to based on a best first search algorithm. Giving a start and goal points, the designed path is obtained by simulation in MATLAB. The experimental results show an ability to perform a parking maneuver using the simulated path. ฉ 2011 IEEE.

Keywords

best first search, bidirectional, path planning, Reverse parallel parking