Perpendicular Parking of Car-Like Robots Allowing a Cusp on the Path
This paper introduces the perpendicular parking algorithm of car-like robots, such that the generated path consists of a cusp. This path planning is based on the car’s turning radii, which can be determined by the car’s geometry and its maximum steering angle. As far as we know...
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| Format: | Article |
| Language: | English |
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IEEE
2024-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/8979350/ |
| _version_ | 1827301776710172672 |
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| author | Jonghoek Kim |
| author_facet | Jonghoek Kim |
| author_sort | Jonghoek Kim |
| collection | DOAJ |
| description | This paper introduces the perpendicular parking algorithm of car-like robots, such that the generated path consists of a cusp. This path planning is based on the car’s turning radii, which can be determined by the car’s geometry and its maximum steering angle. As far as we know, this paper is novel in developing autonomous perpendicular parking based on circular arc and straight line segments, such that a cusp on the generated path is allowed. Since a cusp is allowed, the proposed parking approach is suitable for parking in a small space. The simulation results show the validity of the proposed approach. |
| first_indexed | 2024-04-24T16:32:05Z |
| format | Article |
| id | doaj.art-de9efea739684152b48bcf0372130b40 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-04-24T16:32:05Z |
| publishDate | 2024-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-de9efea739684152b48bcf0372130b402024-03-29T23:00:24ZengIEEEIEEE Access2169-35362024-01-0112444244443110.1109/ACCESS.2020.29712508979350Perpendicular Parking of Car-Like Robots Allowing a Cusp on the PathJonghoek Kim0https://orcid.org/0000-0001-7565-068XElectrical and Electronic Convergence Department, Hongik University, Sejong, South KoreaThis paper introduces the perpendicular parking algorithm of car-like robots, such that the generated path consists of a cusp. This path planning is based on the car’s turning radii, which can be determined by the car’s geometry and its maximum steering angle. As far as we know, this paper is novel in developing autonomous perpendicular parking based on circular arc and straight line segments, such that a cusp on the generated path is allowed. Since a cusp is allowed, the proposed parking approach is suitable for parking in a small space. The simulation results show the validity of the proposed approach.https://ieeexplore.ieee.org/document/8979350/Autonomous carautonomous parkingautonomous perpendicular parkingpath planningsmall space parking |
| spellingShingle | Jonghoek Kim Perpendicular Parking of Car-Like Robots Allowing a Cusp on the Path IEEE Access Autonomous car autonomous parking autonomous perpendicular parking path planning small space parking |
| title | Perpendicular Parking of Car-Like Robots Allowing a Cusp on the Path |
| title_full | Perpendicular Parking of Car-Like Robots Allowing a Cusp on the Path |
| title_fullStr | Perpendicular Parking of Car-Like Robots Allowing a Cusp on the Path |
| title_full_unstemmed | Perpendicular Parking of Car-Like Robots Allowing a Cusp on the Path |
| title_short | Perpendicular Parking of Car-Like Robots Allowing a Cusp on the Path |
| title_sort | perpendicular parking of car like robots allowing a cusp on the path |
| topic | Autonomous car autonomous parking autonomous perpendicular parking path planning small space parking |
| url | https://ieeexplore.ieee.org/document/8979350/ |
| work_keys_str_mv | AT jonghoekkim perpendicularparkingofcarlikerobotsallowingacusponthepath |