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A novel cascade path planning algorithm for autonomous truck-trailer parking

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dc.contributor.coauthorN/A
dc.contributor.departmentDepartment of Mechanical Engineering
dc.contributor.departmentGraduate School of Sciences and Engineering
dc.contributor.kuauthorLazoğlu, İsmail
dc.contributor.kuauthorManav, Ahmet Canberk
dc.contributor.schoolcollegeinstituteCollege of Engineering
dc.contributor.schoolcollegeinstituteGRADUATE SCHOOL OF SCIENCES AND ENGINEERING
dc.date.accessioned2024-11-09T22:58:17Z
dc.date.issued2022
dc.description.abstractOne 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.indexedbyWOS
dc.description.indexedbyScopus
dc.description.issue7
dc.description.openaccessNO
dc.description.sponsoredbyTubitakEuN/A
dc.description.volume23
dc.identifier.doi10.1109/TITS.2021.3062701
dc.identifier.eissn1558-0016
dc.identifier.issn1524-9050
dc.identifier.scopus2-s2.0-85102679689
dc.identifier.urihttps://doi.org/10.1109/TITS.2021.3062701
dc.identifier.urihttps://hdl.handle.net/20.500.14288/7681
dc.identifier.wos732084800001
dc.keywordsAdvanced driver assistance systems
dc.keywordsAutonomous parking
dc.keywordsCascade path planning
dc.keywordsIterative analytical solution
dc.keywordsClosed-loop
dc.keywordsRRT motion
dc.language.isoeng
dc.publisherIeee-Inst Electrical Electronics Engineers Inc
dc.relation.ispartofIeee Transactions On Intelligent Transportation Systems
dc.subjectEngineering
dc.subjectCivil engineering
dc.subjectElectrical and electronic engineering
dc.subjectTransportation science
dc.titleA novel cascade path planning algorithm for autonomous truck-trailer parking
dc.typeJournal Article
dspace.entity.typePublication
local.contributor.kuauthorManav, Ahmet Canberk
local.contributor.kuauthorLazoğlu, İsmail
local.publication.orgunit1GRADUATE SCHOOL OF SCIENCES AND ENGINEERING
local.publication.orgunit1College of Engineering
local.publication.orgunit2Department of Mechanical Engineering
local.publication.orgunit2Graduate School of Sciences and Engineering
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