An adaptive motion planning algorithm for obstacle avoidance in autonomous vehicle parking

Naitik Nakrani, Maulin M. Joshi

Abstract


In the recent era, machine learning-based autonomous vehicle parking and obstacle avoidance navigation have drawn increased attention. An intelligent design is needed to solve the autonomous vehicles related problems. Presently, autonomous parking systems follow path planning techniques that generally do not possess a quality and a skill of natural adapting behavior of a human. Most of these designs are built on pre-defined and fixed criteria. It needs to be adaptive with respect to the vehicle dynamics. A novel adaptive motion planning algorithm is proposed in this paper that incorporates obstacle avoidance capability into a standalone parking controller that is kept adaptive to vehicle dimensions to provide human-like intelligence for parking problems. This model utilizes fuzzy membership thresholds concerning vehicle dimensions and vehicle localization to enhance the vehicle’s trajectory during parking when taking into consideration obstacles. It is generalized for all segments of cars, and simulation results prove the proposed algorithm’s effectiveness.

Keywords


Adaptive fuzzy systems; Autonomous vehicles; Dynamic path planning; Potential field; Ultrasonic sensing

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DOI: http://doi.org/10.11591/ijai.v10.i3.pp687-697

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