Publication: A novel cascade path planning algorithm for autonomous truck-trailer parking
dc.contributor.coauthor | N/A | |
dc.contributor.department | Department of Mechanical Engineering | |
dc.contributor.department | Graduate School of Sciences and Engineering | |
dc.contributor.kuauthor | Lazoğlu, İsmail | |
dc.contributor.kuauthor | Manav, Ahmet Canberk | |
dc.contributor.schoolcollegeinstitute | College of Engineering | |
dc.contributor.schoolcollegeinstitute | GRADUATE SCHOOL OF SCIENCES AND ENGINEERING | |
dc.date.accessioned | 2024-11-09T22:58:17Z | |
dc.date.issued | 2022 | |
dc.description.abstract | One of the most challenging tasks for truck drivers is maneuvering the truck-trailer system in different parking scenarios. This article presents a novel path planning approach for truck-trailer parking, where a realistic and deterministic parking behavior model, Iterative Analytical Method (IAM), is proposed and combined with Closed-Loop Rapidly Exploring Random Tree (CL-RRT) approach in a cascade path planning. Cascade path planning approach combining CL-RRT with the iterative analytical method (IAM) mimicking real-world parking practice enables the generation of both kinematically feasible and deterministic parking maneuvers with obstacle avoidance. For evaluation, different parking scenarios are generated and selected through a developed case generation tool. The performance of the proposed path planning approach is evaluated through MATLAB simulations. The results achieved a noticeable success with a high rate of generated feasible maneuvers for parking. | |
dc.description.indexedby | WOS | |
dc.description.indexedby | Scopus | |
dc.description.issue | 7 | |
dc.description.openaccess | NO | |
dc.description.sponsoredbyTubitakEu | N/A | |
dc.description.volume | 23 | |
dc.identifier.doi | 10.1109/TITS.2021.3062701 | |
dc.identifier.eissn | 1558-0016 | |
dc.identifier.issn | 1524-9050 | |
dc.identifier.scopus | 2-s2.0-85102679689 | |
dc.identifier.uri | https://doi.org/10.1109/TITS.2021.3062701 | |
dc.identifier.uri | https://hdl.handle.net/20.500.14288/7681 | |
dc.identifier.wos | 732084800001 | |
dc.keywords | Advanced driver assistance systems | |
dc.keywords | Autonomous parking | |
dc.keywords | Cascade path planning | |
dc.keywords | Iterative analytical solution | |
dc.keywords | Closed-loop | |
dc.keywords | RRT motion | |
dc.language.iso | eng | |
dc.publisher | Ieee-Inst Electrical Electronics Engineers Inc | |
dc.relation.ispartof | Ieee Transactions On Intelligent Transportation Systems | |
dc.subject | Engineering | |
dc.subject | Civil engineering | |
dc.subject | Electrical and electronic engineering | |
dc.subject | Transportation science | |
dc.title | A novel cascade path planning algorithm for autonomous truck-trailer parking | |
dc.type | Journal Article | |
dspace.entity.type | Publication | |
local.contributor.kuauthor | Manav, Ahmet Canberk | |
local.contributor.kuauthor | Lazoğlu, İsmail | |
local.publication.orgunit1 | GRADUATE SCHOOL OF SCIENCES AND ENGINEERING | |
local.publication.orgunit1 | College of Engineering | |
local.publication.orgunit2 | Department of Mechanical Engineering | |
local.publication.orgunit2 | Graduate School of Sciences and Engineering | |
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