Automatic parking trajectory planning in narrow spaces based on Hybrid A* and NMPC

Automatic parking trajectory planning in narrow spaces based on Hybrid A* and NMPC

Abstract The rapid acceleration of urbanization and the surge in car ownership necessitate efficient automatic parking solutions in constricted spaces to address the escalating urban parking issue. To optimize space utilization, enhance traffic efficiency, and mitigate accident risks, a method is pr...

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Bibliographic Details
Main Authors: Pei Zhang, SiLong Zhou, Jie Hu, WenLong Zhao, Jiachen Zheng, Zhiling Zhang, Chongzhi Gao
Format: Article
Language:English
Published: Nature Portfolio 2025-01-01
Series:Scientific Reports
Subjects:
Automatic parking
Hybrid A* algorithm
Cubic polynomial
NMPC
Optimal control
Collision constraint
Online Access:https://doi.org/10.1038/s41598-025-85541-x
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