차량 선회 반경을 이용한 자동 주차 시스템의 주차 경로 생성 알고리즘

Abstract

This paper deals with path planning for autonomous parking system. The suggested path planning method is consist of two arcs of circle and a straight line. The circle is generated by turning radius which can be determined by the geometry of a vehicle and its steering angle limits. To generate path from the random point to the other point, at least two circles are needed. The straight line is used for optimal path. Without the line, much space is needed to generate path because the big circle is made. This proposed path generation algorithm can make a parking path recursively even though the vehicle cannot follow the reference path.