Accelerated RRT* and Its Evaluation on Autonomous Parking
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F19%3A00334966" target="_blank" >RIV/68407700:21230/19:00334966 - isvavai.cz</a>
Alternative codes found
RIV/68407700:21730/19:00334966
Result on the web
<a href="http://dx.doi.org/10.5220/0007679500860094" target="_blank" >http://dx.doi.org/10.5220/0007679500860094</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.5220/0007679500860094" target="_blank" >10.5220/0007679500860094</a>
Alternative languages
Result language
angličtina
Original language name
Accelerated RRT* and Its Evaluation on Autonomous Parking
Original language description
Finding a collision-free path for autonomous parking is usually performed by computing geometric equations, but the geometric approach may become unusable under challenging situations where space is highly constrained. We propose an algorithm based on Rapidly-Exploring Random Trees Star (RRT*), which works even in highly constrained environments and improvements to RRT*-based algorithm that accelerate computational time and decrease the final path cost. Our improved RRT* algorithm found a path for parallel parking maneuver in 95 % of cases in less than 0.15 seconds.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
Result continuities
Project
<a href="/en/project/TE01020197" target="_blank" >TE01020197: Centre for Applied Cybernetics 3</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2019
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Proceedings of the 5th International Conference on Vehicle Technology and Intelligent Transport Systems
ISBN
978-989-758-374-2
ISSN
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e-ISSN
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Number of pages
9
Pages from-to
86-94
Publisher name
SciTePress
Place of publication
Madeira
Event location
Heraklion, Kréta
Event date
May 3, 2019
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000570379100009