Autonomous Path Planning for Road Vehicles in Narrow Environments: An Efficient Continuous Curvature Approach

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/jat/volume-2017/2521638/figures/2521638.fig.0013a.svgz" name="2521638.fig.0013a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>RRT-Connect (CCRS)</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/jat/volume-2017/2521638/figures/2521638.fig.0013b.svgz" name="2521638.fig.0013b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>RTR + CCRS</td></tr><tr class="fig-image" id="c"><td><object data="https://static.hindawi.com/articles/jat/volume-2017/2521638/figures/2521638.fig.0013c.svgz" name="2521638.fig.0013c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>RTR + TTS (proposed method)</td></tr></table>

<div>Path planning for parallel parking.</div>

Journal of Advanced Transportation

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Figure 13

Figure 13: Autonomous Path Planning for Road Vehicles in Narrow Environments: An Efficient Continuous Curvature Approach 