Research on automatic parking path planning of unmanned ferries based on improved RRT*
To improve the safety and convenience of unmanned shuttle car parking,this paper studies the path planning algorithm of unmanned shuttle car automatic parking system.First,the vehicle kinematics model and the vehicle collision detection model are built in the low speed parking state.RRT*algorithm is employed for path planning,and its expansion mode,cost function and sampling mode are improved.Then,the path planning algorithm is simulated and verified in vertical and parallel parking environments.Our simulation results show the path planned by the improved planning algorithm not only meets the obstacle avoidance requirements and kinematic constraints,but also achieves higher path search efficiency and path quality.
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