| 平行泊车的路径规划方法及其仿真研究 |
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| 引用本文： | 杨妮娜,梁华为,王少平. 平行泊车的路径规划方法及其仿真研究[J]. 电子测量技术, 2011, 34(1): 42-45 |
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| 作者姓名： | 杨妮娜 梁华为 王少平 |
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| 作者单位： | 中科院合肥智能机械研究所;中国科学技术大学;中科院先进制造技术研究所; |
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| 摘 要： | 根据车辆运动学模型,提出一种基于多段圆弧和直线的平行泊车路径规划方法,考虑动力学约束条件,将倒车过程逆化,以此来确定圆弧半径和切点位置,通过避碰约束给出泊车起始位置的范围,通过最小泊车位约束给出最佳起始位置,同时在matlab的环境下对此路径规划方法进行仿真研究,研究结果表明,采用这种方法不仅成功的实现了泊车和避障,而...
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| 关 键 词： | 平行泊车 路径规划 避碰约束 |
Trajectory planning method and simulation research of parallel parking |
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| Yang Nina,Liang Huawei,Wang Shaoping. Trajectory planning method and simulation research of parallel parking[J]. Electronic Measurement Technology, 2011, 34(1): 42-45 |
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| Authors: | Yang Nina Liang Huawei Wang Shaoping |
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| Affiliation: | Yang Ni'na1,2,3 Liang Huawei3 Wang Shaoping3(1.Institute of Intelligent Machines,Chinese Academy of Science,Hefei 230031,2.University of Science and Technology of China,Hefei 230027,3.Institute of Advanced Manufacture Technology,Changzhou 213000) |
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| Abstract: | According to the analysis of steering kinematics model,a trajectory planning approach was proposed based on some arcs of circumference and some straight line.Considering the dynamics constraints,the reverse process of the vehicle was conversed to determine the circular arc radius and the position of tangential point.The bound of start point was presented by collision-free constraint,the best position of start point was presented by the minimum parking space.this paper also simulates the route in the matlab ... |
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| Keywords: | parallel parking trajectory planning collision-free restriction |
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