High-Density Automated Valet Parking with Relocation-Free Sequential Operations

TL;DR

This paper introduces DROP, a framework for high-density automated valet parking that generates relocation-free parking and exit sequences, significantly improving area utilization without vehicle relocations.

Contribution

We propose a novel logical and recursive search-based method to generate relocation-free parking sequences, addressing high-density parking challenges.

Findings

Effective in increasing parking area utilization

Demonstrates viability on real operational sequences

Significantly reduces vehicle relocations

Abstract

In this paper, we present DROP, high-Density Relocation-free sequential OPerations in automated valet parking. DROP addresses the challenges in high-density parking & vehicle retrieval without relocations. Each challenge is handled by jointly providing area-efficient layouts and relocation-free parking & exit sequences, considering accessibility with relocation-free sequential operations. To generate such sequences, relocation-free constraints are formulated as explicit logical conditions expressed in boolean variables. Recursive search strategies are employed to derive the logical conditions and enumerate relocation-free sequences under sequential constraints. We demonstrate the effectiveness of our framework through extensive simulations, showing its potential to significantly improve area utilization with relocation-free constraints. We also examine its viability on an application problem with prescribed operational order. The results from all experiments are available at: https://drop-park.github.io.