A practical and optimal path planning for autonomous parking using fast marching algorithm and support vector machine

Abstract

This paper proposes a novel practical path planning framework for autonomous parking in cluttered environments with narrow passages. The proposed global path planning method is based on an im-proved Fast Marching algorithm to generate a path while considering the moving forward and backward maneuver. In addition, the Support Vec-tor Machine is utilized to provide the maximum clearance from obstacles considering the vehicle dynamics to provide a safe and feasible path. The algorithm considers the most critical points in the map and the complexity of the algorithm is not affected by the shape of the obstacles. We also pro-pose an autonomous parking scheme for different parking situation. The method is implemented on autonomous vehicle platform and validated in the real environment with narrow passages. © 2013 The Institute of Electronics, Information and Communication Engineers.