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All Projects → AtsushiSakai → Hybridastartrailer

AtsushiSakai / Hybridastartrailer

Licence: mit
A path planning algorithm based on Hybrid A* for trailer truck

Programming Languages

julia
2034 projects

Labels

autonomous-drivingautonomous-vehicles

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Hybrid AStar Trailer

Build Status Build status Coverage Status

A path planning algorithm based on Hybrid A* for trailer truck.

Goal

I want to achieve this on autonomous vehicle (click the image to see movie).

IMAGE ALT TEXT HERE

Fedex truck amazing reverse parking - YouTube

Simulation Examples

These are simulation results for autonomous parking in a narrow space.

This planner can generate a feasible path from diffent start states.

Perpendicular parking

2

2

2

Parallel parking

2

2

2

Requirements

How to use

  1. Install the required libraries.

  2. Clone this repo.

  3. Run the script like: julia perpendicular_parking.jl or julia parallel_parking.jl

  4. Add star to this repo if you like it 😃.

Algorithm

This algorithm is almost same as the original Hybrid A * algorithm.

I will explain the some diffent parts of it.

Vehicle Model

This is the vehicle model which is used in this code.

x and y are 2D positions.

θ0 and θ1 is the orientation of vehicle and trailer respectively.

Ref:

Hybrid A * for trailer

This algorithm has 3 novelies for traier parking.

  1. 4D (x,y,θ0,θ1) gridding of Hybrid A *.

  2. Adding the Jackknif cost: Σ|θ0 - θ1|.

  3. Two rectangle (truck and trailer) collision check.

Other materials

License

MIT

Author

Atsushi Sakai (@Atsushi_twi)

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