NDLI: Autonomous parking: A unified motion planning framework based on simultaneous dynamic optimization

Content Provider	IEEE Xplore Digital Library
Author	Li Bai Shao Zhijiang
Copyright Year	2015
Description	Author affiliation: Dept. of Control Sci. & Eng., Zhejiang Univ., Hangzhou, China (Li Bai; Shao Zhijiang)
Abstract	Autonomous parking refers to driving a vehicle into a parking spot without manual operation. The emerging and prevailing methods are either effective on specific scenarios only or focus on overly simplified scenarios, lacking the capability to tackle general cases. In our viewpoint, a general parking motion planning problem is a dynamic optimization problem associated with complicated constraints. This paper proposes a unified formulation that can cover various kinds of parking scenarios when time-optimal solutions are pursued. First, we use differential equations to describe the kinematics of a car, and then use algebraic equalities/inequalities to restrict the car not collide with the parking slot frontiers. Through this, we formulate a time-optimal dynamic optimization (DO) problem that is identical to the original parking motion planning mission. Thereafter, the formulated DO is solved by a simultaneous approach. Although we pursue for time-optimal motions, this approach can be extended to consider other user-specific optimization criteria (such as minimum driving length or minimal fuel usage) with almost none additional effort.
Starting Page	5913
Ending Page	5918
File Size	415950
Page Count	6
File Format	PDF
ISBN	9789881563897
ISSN	19341768
DOI	10.1109/ChiCC.2015.7260565
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-07-28
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Technical Committee on Control Theory, Chinese Association of Automation
Subject Keyword	Dynamics Optimal control Motion Planning Simultaneous Dynamic Optimization Kinematics Planning Vehicle dynamics Optimization Vehicles Interior-Point Method Autonomous Parking Minimum-Time Control
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Dynamic Motion Planning of Autonomous Vehicles (1991)

Time-optimal trajectory planning for tractor-trailer vehicles via simultaneous dynamic optimization

Vehicle motion planning and control for autonomous driving intelligence system based on risk potential optimization framework

Motion planning and control of UVMS: a unified dynamics-based approach

Finite time optimal formation control for multiple vehicles

Time-optimal trajectory planning for autonomous parking of tractor-semitrailer vehicle based on piecewise Gauss pseudospectral method

Dynamic Trajectory Planning for Vehicle Autonomous Driving

Time–Optimal Motion Planning of Autonomous Vehicles in the Presence of Obstacles

Optimal motion generation for autonomous vehicle in maze-like environment

Autonomous parking: A unified motion planning framework based on simultaneous dynamic optimization

Similar Documents

Dynamic Motion Planning of Autonomous Vehicles (1991)

Time-optimal trajectory planning for tractor-trailer vehicles via simultaneous dynamic optimization

Vehicle motion planning and control for autonomous driving intelligence system based on risk potential optimization framework

Motion planning and control of UVMS: a unified dynamics-based approach

Finite time optimal formation control for multiple vehicles

Time-optimal trajectory planning for autonomous parking of tractor-semitrailer vehicle based on piecewise Gauss pseudospectral method

Dynamic Trajectory Planning for Vehicle Autonomous Driving

Time–Optimal Motion Planning of Autonomous Vehicles in the Presence of Obstacles

Optimal motion generation for autonomous vehicle in maze-like environment

Autonomous parking: A unified motion planning framework based on simultaneous dynamic optimization