Vehicular Motion Planning for Parallel and Reverse Parking

• Main Authors: Wen-ChihWang, 王文志
• Other Authors: Tsai-Jeon Huang
• Format: Others
• Language: zh-TW
• Published: 2015
• Online Access: http://ndltd.ncl.edu.tw/handle/64725452676400499740

碩士 === 國立成功大學 === 機械工程學系 === 103 === Vehicle collision-free path planning is available path which car can drive on, and, meanwhile, is satisfied physical-constraint and away from barrier. First, we focus on some theories, for the purpose finding a feasible path between obstacles. Second, we also search math formulas to analyze. After comparing those curve, we select bezier curve to be choice. Because bezier curve has curvature continuum property. Third, we use “swept volume” concept to calculate the collision between car and obstacles for reducing calculating time. Base on those background, we can use optimum design to acquire a feasible bezier curve for car to drive on. We also need some car’s dimension to scale for the test model. In simple way, we pick up steer mechanism of rack and pinion and rear drive. So we use LEXUS IS 300h to be model, scaling down its dimension to small size. Finally, combine this model with electric control system, and try to let car drive on ideal trajectory.