A Practical and Optimal Path Planning for Autonomous Parking Using Fast Marching Algorithm and Support Vector Machine

SUMMARY This paper proposes a novel practical path planning framework for autonomous parking in cluttered environments with narrow passages. The proposed global path planning method is based on an im- proved Fast Marching algorithm to generate a path while considering the moving forward and backward maneuver. In addition, the Support Vec- tor Machine is utilized to provide the maximum clearance from obstacles considering the vehicle dynamics to provide a safe and feasible path. The algorithm considers the most critical points in the map and the complexity of the algorithm is not a ff ected by the shape of the obstacles. We also pro- pose an autonomous parking scheme for di ff erent parking situation. The method is implemented on autonomous vehicle platform and validated in the real environment with narrow passages.

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