2020/10/11 by Ali Boyali, Boyali, Ali, Simon G. Thompson +1
Computer Science · Engineering · #FOS: Computer and information sciences #FOS: Mathematics #Optimization and Control (math.OC) #Robotic Path Planning Algorithms #Robotics (cs.RO) #Smart Parking Systems Research #Vehicle Routing Optimization Methods
paper · pdf · doi:10.48550/arxiv.2010.05201
openalex publication_date 2020/10/11 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
In this paper, we propose an algorithm for optimal generation of nonholonomic\npaths for planning parking maneuvers with a kinematic car model. We demonstrate\nthe use of Successive Convexification algorithms (SCvx), which guarantee path\nfeasibility and constraint satisfaction, for parking scenarios. In addition, we\nformulate obstacle avoidance with state-triggered constraints which enables the\nuse of logical constraints in a continuous formulation of optimization\nproblems. This paper contributes to the optimal nonholonomic path planning\nliterature by demonstrating the use of SCvx and state-triggered constraints\nwhich allows the formulation of the parking problem as a single optimisation\nproblem. The resulting algorithm can be used to plan constrained paths with\ncusp points in narrow parking environments.\n