차량 선회 반경을 이용한 자동 주차 시스템의 주차 경로 생성 알고리즘Path Generation Algorithm using Turning Radius for Autonomous Ground Vehicle
- Other Titles
- Path Generation Algorithm using Turning Radius for Autonomous Ground Vehicle
- Authors
- 이동휘; 김승기; 김창섭; 허건수
- Issue Date
- May-2012
- Publisher
- 한국자동차공학회
- Keywords
- Path planning(궤적 생성); Autonomous parking system(자동 주차 시스템); Path tracking(경로 추종); Autonomous Navigation(자율 주행) intelligent vehicle(지능형 자동차)
- Citation
- 2012년도 한국자동차공학회 부문종합 학술대회, no. , pp.779 - 780
- Indexed
- OTHER
- Journal Title
- 2012년도 한국자동차공학회 부문종합 학술대회
- Start Page
- 779
- End Page
- 780
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/165511
- 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.
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