CIIRC CVUT Researchers from Industrial Informatics Department were awarded Best Industrial Paper Award for their paper presented at 5th International Conference VEHITS that took place in Greek Crete on May 3 – 5, 2019.
Jiří Vlasák, Michal Sojka and Zdeněk Hanzálek presented their paper Accelerated RRT* and Its Evaluation on Autonomous Parking.
The purpose of the 5th International Conference on Vehicle Technology and Intelligent Transport Systems (VEHITS) is to bring together engineers, researchers and practitioners interested in the advances and applications in the field of Vehicle Technology and Intelligent Transport Systems.
This conference focuses on innovative applications, tools and platforms in all technology areas such as signal processing, wireless communications, informatics and electronics, related to different kinds of vehicles, including cars, off-road vehicles, trains, ships, underwater vehicles, or flying machines, and the intelligent transportation systems that connect and manage large numbers of vehicles, not only in the context of smart cities but in many other application domains.
Finding a collision-free path for autonomous parking is usually performed by computing geometric equations, but the geometric approach may become unusable under challenging situations where space is highly constrained. We propose an algorithm based on Rapidly-Exploring Random Trees Star (RRT*), which works even in highly constrained environments and improvements to RRT*-based algorithm that accelerate computational time and decrease the final path cost. Our improved RRT* algorithm found a path for parallel parking manoeuvre in 95 % of cases in less than 0.15 seconds.