Modified Hybrid A* Collision-Free Path-Planning for Automated Reverse Parking

TL;DR

This paper introduces a modified Hybrid A* algorithm that ensures collision-free, kinematically feasible reverse parking trajectories in tight spaces, combining vehicle motion modeling with obstacle avoidance.

Contribution

It develops a hybrid path-planning method integrating a vehicle kinematic model with static obstacle collision avoidance for reverse parking.

Findings

Consistently generates collision-free parking trajectories.

Proves effective in simulation for tight space maneuvers.

Ensures kinematic feasibility of planned paths.

Abstract

Parking a vehicle in tight spaces is a challenging task to perform due to the scarcity of feasible paths that are also collision-free. This paper presents a strategy to tackle this kind of maneuver with a modified Hybrid-A* path-planning algorithm that combines the feasibility guarantee inherent in the standard Hybrid A* algorithm with the addition of static obstacle collision avoidance. A kinematic single-track model is derived to describe the low-speed motion of the vehicle, which is subsequently used as the motion model in the Hybrid A* path-planning algorithm to generate feasible motion primitive branches. The model states are also used to reconstruct the vehicle centerline, which, in conjunction with an inflated binary occupancy map, facilitates static obstacle collision avoidance functions. Simulation study and animation are set up to test the efficacy of the approach, and the proposed algorithm proves to consistently provide kinematically feasible trajectories that are also collision-free.