geometric-parallel-parking

Geometric path planning for automatic parallel parking in tiny spots [1]

RUN

python main.py --x_start 75 --y_start 40 --psi_start -20 --x_end 90 --y_end 80 --parking_length 12 --parking_margin 1

One Traial

one_trial-2022-04-05_19.50.37.mp4

one_trial_naname-2022-04-05_19.51.58.mp4

Several Trarial

kirikaeshi-2022-06-26_19.56.43.mp4

kirikaeshi_naname-2022-04-05_19.52.37.mp4

Application

Autoware uses C++ version of this path planning. geometric_parallel_parking.cpp is implemented in Autoware which is used in goal_planner and start_planner.

back_pull_over-2023-12-04_18.54.53.mp4

Reference

based on https://github.com/Pandas-Team/Automatic-Parking and replaced the path planner.

[1] H. Vorobieva, S. Glaser, N. Minoiu-Enache, and S. Mammar, “Geometric path planning for automatic parallel parking in tiny spots,” IFAC Proceedings Volumes, vol. 45, no. 24, pp. 36–42, 2012.