Trajectory Design and Feedforward Control for Car Parking

In this paper a general two-step trajectory planning algorithm from robotics literature is applied to generate suitable trajectories for an autonomous parking maneuver of a car. First, a collision-free curve between a given start and a desired goal configuration within the parking space is planned ignoring the kinematic restrictions on the movement of the car. Second, the collision-free curve is converted into a feasible collision-free trajectory, which can be exactly followed by the car. It is shown how this general planning scheme must be adapted to meet the requirements of the automotive industry without losing important properties like the completeness of the algorithm.

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