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|dc.identifier.citation||Technical Paper, 2015-01-0298, Page. 1-5||en_US|
|dc.description.abstract||Parking path planning is an essential technology for intelligent vehicles. Under a confined area, a parking path has to guide a vehicle into a parking space without collision. To realize this technology, circle-based planning algorithms have been studied. The main components of these algorithms are circles and straight lines; subsequently, the parking path of the algorithm is designed by the combination of these geometric lines. However, the circle-based algorithm was developed in an open space within an unlimited parking lot width, so a feasible path cannot always be guaranteed in a narrow parking lot. Therefore, we present a parking planning algorithm based on Turning Standard Line (TSL) that is a straight line segment. The algorithm uses the TSL lines to guide sequential quadratic Béizer curves. A set of these curves from parking start to goal position creates a continuous parking path. Although the size of free space in a parking lot is small, iterative TSL guides Béizer curves to draw a feasible parking path. We use a sampling technique to find the optimal path and select the minimum-cost path. The planning algorithm proposed in this paper is verified by simulation in various-size parking environments. The simulation results show that the generated path by this algorithm is adapted to the narrow width of a parking lot.||en_US|
|dc.description.sponsorship||This work was supported by the National Research Foundation (NRF) grant funded by the Korea government (MEST) (No. 2011-0017495), Industrial Strategy Technology Development Program of Ministry of Knowledge Economy (No. 10039673 and No. 10042633), Energy Resource R&D program (2006ETR11P091C) under the Ministry of Knowledge Economy. And it was also financially supported by the BK21 plus program (22A20130000045) under the Ministry of Education, Republic of Korea.||en_US|
|dc.title||Turning Standard Line (TSL) Based Path Planning Algorithm for Narrow Parking Lots||en_US|
|dc.sector.daehak||COLLEGE OF ENGINEERING[S]||-|
|dc.sector.department||DEPARTMENT OF AUTOMOTIVE ENGINEERING||-|
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