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This paper discusses about the trajectory planning and controlled maneuvering of the vehicle in parking assist mode. The objective of the proposed algorithm is to use low-cost hardware like ultrasonic sensor in order to provide automated parking assist to the vehicle. The concept of grid occupancy is formulated in free space detection algorithm to compute lateral-longitudinal grid cell vacancy. The...
Many of the existing motion planning algorithms require the free space to be decomposed into convex obstacle-free regions. This paper presents an algorithm for generating such regions. The algorithm is based on stereographic projection. The algorithm requires relatively simple computations, compared with some of the known methods. Three applications of the algorithm were demonstrated: motion planning...
In this paper we provide a thorough, rigorous theoretical framework to assess optimality guarantees of sampling-based algorithms for drift control systems: systems that, loosely speaking, can not stop instantaneously due to momentum. We exploit this framework to design and analyze a sampling-based algorithm (the Differential Fast Marching Tree algorithm) that is asymptotically optimal, that is, it...
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