非構造環境における自動駐車のための分割軌道最適化
Segmented Trajectory Optimization for Autonomous Parking in Unstructured Environments
初期軌道をSQPベースの反復手法で動的に実行可能かつ衝突のない軌道に洗練する分割軌道最適化(STO)を提案し、垂直・斜め駐車のシミュレーションで効率と安全性を検証した。
分類: cs.RO
原文アブストラクト
This paper presents a Segmented Trajectory Optimization (STO) method for autonomous parking, which refines an initial trajectory into a dynamically feasible and collision-free one using an iterative SQP-based approach. STO maintains the maneuver strategy of the high-level global planner while allowing curvature discontinuities at switching points to improve maneuver efficiency. To ensure safety, a convex corridor is constructed via GJK-accelerated ellipse shrinking and expansion, serving as safety constraints in each iteration. Numerical simulations in perpendicular and reverse-angled parking scenarios demonstrate that STO enhances maneuver efficiency while ensuring safety. Moreover, computational performance confirms its practicality for real-world applications.
