Improved A-Search Guided Tree for Autonomous Trailer Planning
Jessica Leu,Yebin Wang,Masayoshi Tomizuka,Stefano Di Cairano,Jessica Leu,Yebin Wang,Masayoshi Tomizuka,Stefano Di Cairano
This paper presents a motion planning strategy that utilizes the improved A -search guided tree to enable autonomous parking of a general 3-trailer with a car-like tractor. Different from the state-of-the-art state-lattice-based methods, where numerous motion primitives are necessary to ensure successful planning, our work allows quick off-lattice exploration to find a solution. Our treatment brin...
