Hybrid AStar Trailer
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).
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
Parallel parking
Requirements
How to use
-
Install the required libraries.
-
Clone this repo.
-
Run the script like: julia perpendicular_parking.jl or julia parallel_parking.jl
-
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.
-
4D (x,y,θ0,θ1) gridding of Hybrid A *.
-
Adding the Jackknif cost: Σ|θ0 - θ1|.
-
Two rectangle (truck and trailer) collision check.
Other materials
- トレーラトラックの自動駐車計画アルゴリズムの紹介@ROS Japan UG #24 勉強会 (in Japanease)
License
MIT
Author
Atsushi Sakai (@Atsushi_twi)