Name
Title | ||
|---|---|---|
Road Boundary Modeling for Autonomous Bus Docking Subject to Rectangular Geometry Constraints |
Abstract | ||
|---|---|---|
This paper studies the optimization problem of autonomous bus parallel parking subjected to rectangular geometry constraints. The parking space is a non-smooth and non-convex irregular polygon. We propose a novel method for modeling geometry constraints, which allows using the exact non-smooth parking space, while still being able to formulate the problem as a smooth nonlinear program. The focus of this paper is to compare our method to two other approaches of modeling rectangular geometry constraints, where one uses mixed-integers while the other approximates the rectangle as a smooth function. We show that our novel method prevents collisions and requires shorter computation time, where collision constraints are imposed on a limited number of points on the vehicle contour. |
Year | DOI | Venue |
|---|---|---|
2021 | 10.23919/ECC54610.2021.9655190 | 2021 EUROPEAN CONTROL CONFERENCE (ECC) |
Keywords | DocType | Citations |
autonomous bus, parking, path planning, rectangle, polygon, geometry constraints, OCP, nonlinear program, direct multiple-shooting, CASADI | Conference | 0 |
PageRank | References | Authors |
0.34 | 0 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Amal Elawad | 1 | 0 | 0.34 |
| Nikolce Murgovski | 2 | 0 | 0.34 |
| Mats Jonasson | 3 | 0 | 0.34 |
| Jonas Sjöberg | 4 | 0 | 0.34 |