Classic and Modern Methods of Automatic Parking Control of Self-driving Cars

Авторы: Tyulenev Ilya D., Filimonov Nikolay B.
Сборник: Communications in Computer and Information Science
Год издания: 2024
Издательство: Springer Nature
Местоположение издательства: Switzerland
Первая страница: 197
Последняя страница: 209
DOI: 10.1007/978-3-031-51057-1_15
Аннотация: The problem of automatic parking control of an unmanned car is considered. The formulation and formalization of the problem of the car parking control taking into account the restrictions that ensure the safety of the parking maneuver are given. Classical and modern methods of the automatic parking con- trol of unmanned cars are analyzed. Based on the Dubins and Reeds-Shepp motion models, optimal algorithms developed for the car parking control are synthesized. A fast-growing random tree algorithm RRT is used to construct a path between two points. Based on the method of machine learning involving reinforcement, a car parking control algorithm is synthesized. The algorithm convergence is inves- tigated, and the optimal values of the training parameters are determined. The results of the computer testing of synthesized parking algorithms implemented in Python using mathematical libraries Matplotlib and NumPy are presented.
Добавил в систему: Тюленев Илья Дмитриевич

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