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

Quoc Huy DO  Seiichi MITA  Keisuke YONEDA  

IEICE TRANSACTIONS on Information and Systems   Vol.E96-D   No.12   pp.2795-2804
Publication Date: 2013/12/01
Online ISSN: 1745-1361
DOI: 10.1587/transinf.E96.D.2795
Print ISSN: 0916-8532
Type of Manuscript: PAPER
Category: Artificial Intelligence, Data Mining
path planning,  autonomous parking,  fast marching,  support vector machine,  

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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 improved Fast Marching algorithm to generate a path while considering the moving forward and backward maneuver. In addition, the Support Vector 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 affected by the shape of the obstacles. We also propose an autonomous parking scheme for different parking situation. The method is implemented on autonomous vehicle platform and validated in the real environment with narrow passages.