Path Planning for Parking of Car-like Vehicles using Switched Heuristic Functions of Reed-Shepp Curves

Realize non-holonomic constrained vehicle planning in narrow convex space. (The source code will come soon)

Installation

Required Library

• Eigen3
• PCL 1.7
• ROS
• jsk_recognition

Note: C++ 11 is recommended to run II-planner. Please install and configure C++ 11.

roslaunch cross_iter_planner ii_planner_with_chassis_polygon.launch 

The width and length of non-holonomic vehicle is $1.6m$ $\times$ $3.8m$ and its minimum turning radius is 5m, the experimental environment is an 8.0m*9.0m convex polygonal environment, the experimental results are as follows.

single_cvx.mp4

The experimental platform utilized in this study comprises the HunterSE chassis, the experimental vehicle with chassis size of $0.64m$ $\times$ $0.82m$ and its minimum turning radius is $2.5m$, and equip with the environment sensing Hesai QT64 LiDAR and IMU. The NUC12WSHi7 serves as the computing unit, and communication is established via WIFI.

pp.mp4