Λεπτομέρειες βιβλιογραφικής εγγραφής
| Τίτλος: |
Autonomous Parking via Kinematics-Aware Hybrid A* Path Planning and Learning-Driven Trajectory Control. |
| Συγγραφείς: |
Duan, Yanbei1,2 (AUTHOR), Ariffin, Shamsul Arrieya2,3 (AUTHOR), Jiang, Yi1,2 (AUTHOR) jy151411737@gmail.com |
| Πηγή: |
International Journal of Pattern Recognition & Artificial Intelligence. Sep2026, Vol. 40 Issue 11, p1-48. 48p. |
| Θεματικοί όροι: |
Robotic path planning, Reinforcement learning, Genetic algorithms, Trajectories (Mechanics), City traffic, Smart parking systems, Real-time control |
| Περίληψη: |
Advances in autonomous driving have made automatic parking systems a practical means of mitigating urban congestion. This work investigates how an autonomous parking system can consistently reconcile global, kinematically feasible trajectory generation with locally robust, smooth, real-time feedback control under dynamic disturbances. To address this question, we present a closed-loop framework that coordinates Hybrid A* planning, Bézier−B-spline smoothing, reinforcement-learning control (PPO/DDPG), and genetic-algorithm-based global refinement to improve parking accuracy and efficiency. Hybrid A* first produces a kinematically feasible path; PPO subsequently adapts the control policy in dynamic environments, and DDPG further refines steering and throttle commands to achieve smoother motion. The GA periodically revises the global trajectory and the associated control parameters, reducing the risk of convergence to suboptimal solutions. A Bézier−B-spline hybrid smoother is finally applied to eliminate residual curvature discontinuities. Experimental evaluations indicate that the proposed system attains a 98.7% parking success rate, an average curvature variation of 15.3 ∘ ⋅ m − 1 , and a mean completion time of 2.1 s — substantially surpassing state-of-the-art baselines. These findings suggest that explicitly coordinating structured planning with learning-based feedback control is a practical route to reliable, real-time autonomous parking. [ABSTRACT FROM AUTHOR] |
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| Βάση Δεδομένων: |
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