COMBINATION OF RRT AND STANLEY METHODS FOR AUTONOMOUS VEHICLES INTO A PARKING AREA

Abstract

Autonomous vehicles are an area of interest for researchers nowadays. In
which, automatic parking is considered an important part of autonomous vehicles.
As the number of cars is increasing, parking area is becoming more and more a
problem, so automatic parking is an indispensable part of the future. This article
focuses on the application of the RRT random tree method to find the optimal
reference path for the car and the Stanley method to control the car in order to
follow the reference path. The simulation results have clearly shown the effect of
the proposed controller PI when the error of the reference path and the control
signals is always below 3%. The steering angle and vehicle trajectory show that the
car is always within the steering threshold and always ensures its stability.