Accelerated RRT* and Its Evaluation on Autonomous Parking

Jiri Vlasak, Michal Sojka, Zdeněk Hanzálek

Abstract

Finding a collision-free path for autonomous parking is usually performed by computing geometric equations, but the geometric approach may become unusable under challenging situations where space is highly constrained. We propose an algorithm based on Rapidly-Exploring Random Trees Star (RRT*), which works even in highly constrained environments and improvements to RRT*-based algorithm that accelerate computational time and decrease the final path cost. Our improved RRT* algorithm found a path for parallel parking maneuver in 95 % of cases in less than 0.15 seconds.

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Paper Citation


in Harvard Style

Vlasak J., Sojka M. and Hanzálek Z. (2019). Accelerated RRT* and Its Evaluation on Autonomous Parking.In Proceedings of the 5th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS, ISBN 978-989-758-374-2, pages 86-94. DOI: 10.5220/0007679500860094


in Bibtex Style

@conference{vehits19,
author={Jiri Vlasak and Michal Sojka and Zdeněk Hanzálek},
title={Accelerated RRT* and Its Evaluation on Autonomous Parking},
booktitle={Proceedings of the 5th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS,},
year={2019},
pages={86-94},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007679500860094},
isbn={978-989-758-374-2},
}


in EndNote Style

TY - CONF

JO - Proceedings of the 5th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS,
TI - Accelerated RRT* and Its Evaluation on Autonomous Parking
SN - 978-989-758-374-2
AU - Vlasak J.
AU - Sojka M.
AU - Hanzálek Z.
PY - 2019
SP - 86
EP - 94
DO - 10.5220/0007679500860094