A Path Planning Method Based on Hybrid A-Star and RS Algorithm

How to generate a reasonable path for automatic parking assist has been extensively studied. However, it is still a huge challenge to design a path planner that can handle tight space environments for all common parking scenarios. The things need to be considered in the process of path planning algorithm design, including generate a path quickly and low computational costs and collision-free path, make the problem even more difficult to be solved. In this paper, a path planning algorithm based on hybrid A-star and RS algorithm is proposed. The algorithm introduces the concept of guiding points which we can directly generate collision-free path through the RS algorithm, and the guiding point are calculated offline using hybrid A-star algorithm for various working scenarios. And the algorithm was tested and validated by the simulation and vehicle test in two common parking scenarios. As illustrated by the simulation and vehicle test results, the proposed path planning algorithm is improved significantly and can be used in common parking scenarios.