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Authors: Jiri Vlasak 1 ; Michal Sojka 2 and Zdeněk Hanzálek 2

Affiliations: 1 Faculty of Electrical Engineering, Czech Technical University in Prague, Technicka 2, Prague, Czech Republic, Czech Institute of Informatics, Robotics and Cybernetics, Czech Technical University in Prague, Jugoslavskych partyzanu 1580/3, Prague and Czech Republic ; 2 Czech Institute of Informatics, Robotics and Cybernetics, Czech Technical University in Prague, Jugoslavskych partyzanu 1580/3, Prague and Czech Republic

Keyword(s): Autonomous Parking, Rapidly-Exploring Random Trees, Reeds and Shepp Steering, Dijkstra Optimization, Nearest Neighbor Heuristics.

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 several formats:
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 - VEHITS; ISBN 978-989-758-374-2; ISSN 2184-495X, SciTePress, pages 86-94. DOI: 10.5220/0007679500860094

@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 - VEHITS},
year={2019},
pages={86-94},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007679500860094},
isbn={978-989-758-374-2},
issn={2184-495X},
}

TY - CONF

JO - Proceedings of the 5th International Conference on Vehicle Technology and Intelligent Transport Systems - VEHITS
TI - Accelerated RRT* and Its Evaluation on Autonomous Parking
SN - 978-989-758-374-2
IS - 2184-495X
AU - Vlasak, J.
AU - Sojka, M.
AU - Hanzálek, Z.
PY - 2019
SP - 86
EP - 94
DO - 10.5220/0007679500860094
PB - SciTePress

- Science and Technology Publications, Lda.
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