A fast motion planning algorithm for car parking based on static optimization

  title={A fast motion planning algorithm for car parking based on static optimization},
  author={Patrik Zips and Martin B{\"o}ck and Andreas Kugi},
  journal={2013 IEEE/RSJ International Conference on Intelligent Robots and Systems},
This paper presents a fast optimization based algorithm for car parking. The challenge arises from the non-holonomic characteristics of the car and the close distance to the obstacles. The presented approach utilizes the Minkowski sum to account for obstacle avoidance. The geometric path planning problem is decoupled from the kinematic problem and discretized with respect to the path parameter by means of a Runge-Kutta discretization. For the discrete path segments, an optimization problem is… CONTINUE READING
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