sample based parking planner

RRT path planner for automated parking

• 2017 A two-stage RRT path planner for automated parking

Improving RRT

• Improving RRT for Automated Parking in Real-world Scenarios
• source code

method:

• in slot gcp planner
• out-slot rrt pplanner

2022 Continuous-Curvature Target Tree Algorithm for Path Planning in Complex Parking Environments

1. 根据直线长度,采样多条出库路径,然后计算cost最小的出库长度以及target-tree
2. 采用rrt* 进行连接(?怎么连接的)

泊车路径 rrt*

连续曲率轨迹

2017 TTS-RTR

Ref

• 2017 Autonomous Path Planning for Road Vehicles in Narrow Environments: An Efficient Continuous Curvature Approach

基于运动学的采样方法