A unified motion planning method for parking an autonomous vehicle in the presence of irregularly placed obstacles
Open accessAbstract
This paper proposes a motion planner for autonomous parking. Compared to the prevailing and emerging studies that handle specific or regular parking scenarios only, our method describes various kinds of parking cases in a unified way regardless they are regular parking scenarios (e.g., parallel, perpendicular or echelon parking cases) or not. First, we formulate a time-optimal dynamic optimization problem with vehicle kinematics, collision-avoidance conditions and mechanical constraints strictly described. Thereafter, an interior-point simultaneous approach is introduced to solve that formulated dynamic optimization problem. Simulation results validate that our proposed motion planning method can tackle general parking scenarios. The tested parking scenarios in this paper can be regarded as benchmark cases to evaluate the efficiency of methods that may emerge in the future. Our established dynamic optimization problem is an open and unified framework, where other complicated user-specific constraints/optimization criteria can be handled without additional difficulty, provided that they are expressed through inequalities/polynomial explicitly. This proposed motion planner may be suitable for the next-generation intelligent parking-garage system.
Integrity signals
Registry
Cites
Statistics
Claims the paper makes
Claims other papers make about this one
Each is checked against this paper’s own text: does it say what the citing paper says it does?
Relevant valet parking products have already been made available in the market by many original equipment manufacturers such as Tesla, Volvo, Audi, BMW, Ford, Land Rover, Mercedes-Benz, Nissan, and Toyota.
“Relevant products have already been made available in the market by many of the original equipment manufacturers such as T esla, Volvo, Audi, BMW, Ford, Land Rover, Mercedes-Benz, Nissan, and T oyota”
From Understanding autonomous vehicles: A systematic literature review on capability, impact, planning and policy (2019) · cites this paper as Li & Shao, 2015
Cites
Wächter, A., & Biegler, L. T. (2006) · Mathematical Programming · doi:10.1007/s10107-004-0559-y · Cited by 9,483 · see citing works
Path Planning for Autonomous Vehicles in Unknown Semi-structured Environments
Dolgov, D., Thrun, S., Montemerlo, M., & Diebel, J. R. (2010) · The International Journal of Robotics Research · doi:10.1177/0278364909359210 · Cited by 986 · see citing works
Nonlinear programming : concepts, algorithms, and applications to chemical processes
Biegler, L. T. (2010) · Cited by 622 · see citing works
Simultaneous dynamic optimization strategies: Recent advances and challenges
Kameswaran, S., & Biegler, L. T. (2006) · Computers & Chemical Engineering · doi:10.1016/j.compchemeng.2006.05.034 · Cited by 239 · see citing works
Autonomous cars: The tension between occupant experience and intersection capacity
Vine, S. L., Zolfaghari, A., & Polak, J. W. (2015) · Transportation Research Part C Emerging Technologies · doi:10.1016/j.trc.2015.01.002 · Cited by 232 · see citing works
Autonomous fuzzy parking control of a car-like mobile robot
Li, T.-H. S., & Chang, S.-J. (2003) · IEEE Transactions on Systems Man and Cybernetics - Part A Systems and Humans · doi:10.1109/tsmca.2003.811766 · Cited by 140 · see citing works
Automated Guided Vehicle Systems
Ullrich, G. (2014) · Springer eBooks · doi:10.1007/978-3-662-44814-4 · Cited by 135 · see citing works
Motion generation and control for parking an autonomous vehicle
Paromtchik, I. E., & Laugier, C. (2002) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.1996.509186 · Cited by 133 · see citing works
Robust automatic parallel parking in tight spaces via fuzzy logic
Zhao, Y., & Collins, E. G. (2005) · Robotics and Autonomous Systems · doi:10.1016/j.robot.2005.01.002 · Cited by 127 · see citing works
Autonomous parallel parking of a nonholonomic vehicle
Paromtchik, I. E., & Laugier, C. (2002) · IEEE Intelligent Vehicles Symposium · doi:10.1109/ivs.1996.566343 · Cited by 104 · see citing works
Continuous curvature path generation based on -spline curves for parking manoeuvres
Gómez-Bravo, F., Cuesta, F., Ollero, A., & Viguria, A. (2007) · Robotics and Autonomous Systems · doi:10.1016/j.robot.2007.08.004 · Cited by 87 · see citing works
Continuous Curvature Trajectory Design and Feedforward Control for Parking a Car
Muller, B., Deutscher, J., & Grodde, S. (2007) · IEEE Transactions on Control Systems Technology · doi:10.1109/tcst.2006.890289 · Cited by 84 · see citing works
Connected Car: Quantified Self becomes Quantified Car
Swan, M. (2015) · Journal of Sensor and Actuator Networks · doi:10.3390/jsan4010002 · Cited by 78 · see citing works
Planning shortest bounded-curvature paths for a class of nonholonomic vehicles among obstacles
Bicchi, A., Casalino, G., & Santilli, C. (1996) · Journal of Intelligent & Robotic Systems · doi:10.1007/bf00270450 · Cited by 75 · see citing works
Unified path planner for parking an autonomous vehicle based on RRT
Han, L., Huy, Q., & Mita, S. (2011) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2011.5980105 · Cited by 73 · see citing works
Bi-level programming based real-time path planning for unmanned aerial vehicles
Liu, W., Zheng, Z., & Cai, K. (2013) · Knowledge-Based Systems · doi:10.1016/j.knosys.2013.01.011 · Cited by 68 · see citing works
A parking algorithm for an autonomous vehicle
Hsieh, M.-F., & Özgüner, Ü. (2008) · IEEE Intelligent Vehicles Symposium · doi:10.1109/ivs.2008.4621317 · Cited by 61 · see citing works
A new hybrid navigation algorithm for mobile robots in environments with incomplete knowledge
Zhu, Y., Zhang, T., Song, J., & Li, X. (2011) · Knowledge-Based Systems · doi:10.1016/j.knosys.2011.11.009 · Cited by 60 · see citing works
Assessment of adaptive human–robot interactions
Sekmen, A., & Challa, P. (2013) · Knowledge-Based Systems · doi:10.1016/j.knosys.2013.01.003 · Cited by 57 · see citing works
Computation of time optimal movements for autonomous parking of non-holonomic mobile platforms
Kondak, K., & Hommel, G. (2002) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.2001.933030 · Cited by 53 · see citing works
Geometric continuous-curvature path planning for automatic parallel parking
Vorobieva, H., Minoiu-Enache, N., Glaser, S., & Mammar, S. (2013) · IEEE International Conference on Networking, Sensing and Control (ICNSC) · doi:10.1109/icnsc.2013.6548775 · Cited by 51 · see citing works
The impact of automatic control on recent developments in transportation and vehicle systems
Kiencke, U., Nielsen, L., Sutton, R., Schilling, K., Papageorgiou, M., & Asama, H. (2006) · Annual Reviews in Control · doi:10.1016/j.arcontrol.2006.02.001 · Cited by 42 · see citing works
Planning of proactive behaviors for human–robot cooperative tasks under uncertainty
Kwon, W. Y., & Suh, I. H. (2014) · Knowledge-Based Systems · doi:10.1016/j.knosys.2014.08.021 · Cited by 34 · see citing works
Autonomous Vehicle Parking Using Hybrid Artificial Intelligent Approach
Lee, C.-K., Lin, C.-L., & Shiu, B.-M. (2009) · Journal of Intelligent and Robotic Systems · doi:10.1007/s10846-009-9319-9 · Cited by 31 · see citing works
Huy, Q., Mita, S., & Yoneda, K. (2013) · IEICE Transactions on Information and Systems · doi:10.1587/transinf.e96.d.2795 · Cited by 16 · see citing works
Parking control based on nonlinear trajectory control for low speed vehicles
Ohata, A., & Mio, M. (2002) · Annual Conference of the IEEE Industrial Electronics Society (IECON) · doi:10.1109/iecon.1991.239320 · Cited by 16 · see citing works
Automatic parallel parking and returning to traffic manoeuvres
Paromtchik, I. E., & Laugier, C. (2002) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.1997.656803 · Cited by 16 · see citing works
Trajectory generation for a four wheel steering tractor-trailer system: a two-step method
Wang, Y., & Cartmell, M. P. (1998) · Robotica · doi:10.1017/s0263574798000423 · Cited by 15 · see citing works
Perfect Parallel Parking Via Pontryagin’s Principle
Patten, W. N., Wu, H.-C., & Cai, W. (1994) · Journal of Dynamic Systems Measurement and Control · doi:10.1115/1.2899271 · Cited by 14 · see citing works
Performance analysis of path planners for car-like vehicles toward automatic parking control
Kwon, H., & Chung, W. (2013) · Intelligent Service Robotics · doi:10.1007/s11370-013-0140-8 · Cited by 13 · see citing works
Modeling parallel parking a car
Zhdanov, A. A., Klimov, D. M., Korolev, V. V., & Utemov, A. E. (2008) · Journal of Computer and Systems Sciences International · doi:10.1134/s1064230708060063 · Cited by 12 · see citing works
Sampling-based retraction method for improving the quality of mobile robot path planning
Park, B., Choi, J., & Chung, W. K. (2012) · International Journal of Control Automation and Systems · doi:10.1007/s12555-012-0515-1 · Cited by 11 · see citing works
Blosseville, J. M., & Flonneau, M. (2014) · Transport Research Arena (TRA) 5th Conference: Transport Solutions from Research to DeploymentEuropean CommissionConference of European Directors of Roads (CEDR)European Road Transport Research Advisory Council (ERTRAC)WATERBORNEᵀᴾEuropean Rail Research Advisory Council (ERRAC)Institut Francais des Sciences et Technologies des Transports, de l'Aménagement et des Réseaux (IFSTTAR)Ministère de l'Écologie, du Développement Durable et de l'Énergie · Cited by 2 · see citing works
Flagged first, then by citations
2 of the 35 references couldn’t be matched to a known paper.
Cited by
Sorted by citations
Optimization-Based Collision Avoidance
Zhang, X., Liniger, A., & Borrelli, F. (2020) · IEEE Transactions on Control Systems Technology · doi:10.1109/tcst.2019.2949540 · Cited by 451 · see citing works
Faisal, A., Yigitcanlar, T., Kamruzzaman, M., & Currie, G. (2019) · Journal of Transport and Land Use · doi:10.5198/jtlu.2019.1405 · Cited by 427 · see citing works
“…open-loop (when controller does not require verification of system output or modification of command to the system) motion planning and, closed-loop (information flows around a feedback loop) control execution, are responsible for successful autonomous parking (Lee et al., 2009; Li & Shao, 2015).”
BackgroundLi, B., Acarman, T., Zhang, Y. M., Ouyang, Y., Yaman, C., Kong, Q., Zhong, X., & Peng, X. (2021) · IEEE Transactions on Intelligent Transportation Systems · doi:10.1109/tits.2021.3109011 · Cited by 211 · see citing works
Self-citationLi, B., Ouyang, Y., Li, L., & Zhang, Y. M. (2022) · IEEE Transactions on Intelligent Transportation Systems · doi:10.1109/tits.2022.3145389 · Cited by 179 · see citing works
Self-citationAutonomous driving, the built environment and policy implications
Fraedrich, E., Heinrichs, D., Bahamonde-Birke, F. J., & Cyganski, R. (2019) · Transportation Research Part A: Policy and Practice · doi:10.1016/j.tra.2018.02.018 · Cited by 175 · see citing works
Li, B., Wang, K., & Shao, Z. (2016) · IEEE Transactions on Intelligent Transportation Systems · doi:10.1109/tits.2016.2546386 · Cited by 155 · see citing works
Self-citationHan, Z., Wu, Y., Li, T., Zhang, L., Pei, L., Xu, L., Li, C., Ma, C., Xu, C., Shen, S., et al. (2023) · IEEE Transactions on Intelligent Transportation Systems · doi:10.1109/tits.2023.3315320 · Cited by 127 · see citing works
Li, B., Acarman, T., Zhang, Y. M., Zhang, L., Yaman, C., & Kong, Q. (2019) · IEEE Transactions on Intelligent Vehicles · doi:10.1109/tiv.2019.2960943 · Cited by 104 · see citing works
Self-citationLi, B., Zhang, Y. M., Feng, Y., Zhang, Y. J., Ge, Y., & Shao, Z. (2018) · IEEE Transactions on Intelligent Vehicles · doi:10.1109/tiv.2018.2843159 · Cited by 92 · see citing works
Self-citationReinforcement Learning-Based End-to-End Parking for Automatic Parking System
Zhang, P., Xiong, L., Yu, Z., Fang, P., Yan, S., Yao, J., & Zhou, Y. F. (2019) · Sensors · doi:10.3390/s19183996 · Cited by 86 · see citing works
Li, B., Ouyang, Y., Li, X., Cao, D., Zhang, T., & Wang, Y. (2022) · IEEE Transactions on Intelligent Vehicles · doi:10.1109/tiv.2022.3214777 · Cited by 83 · see citing works
Self-citationSimultaneous dynamic optimization: A trajectory planning method for nonholonomic car-like robots
Li, B., & Shao, Z. (2015) · Advances in Engineering Software · doi:10.1016/j.advengsoft.2015.04.011 · Cited by 77 · see citing works
Self-citationWiseman, Y. (2021) · IGI Global eBooks · doi:10.4018/978-1-6684-3694-3.ch043 · Cited by 75 · see citing works
Jin, S., Wang, X., & Meng, Q. (2023) · Knowledge-Based Systems · doi:10.1016/j.knosys.2023.111358 · Cited by 72 · see citing works
Re-Plannable Automated Parking System With a Standalone Around View Monitor for Narrow Parking Lots
Jang, C., Kim, C., Lee, S., Kim, S., Lee, S., & Sunwoo, M. (2019) · IEEE Transactions on Intelligent Transportation Systems · doi:10.1109/tits.2019.2891665 · Cited by 69 · see citing works
Li, B., Yin, Z., Ouyang, Y., Zhang, Y. M., Zhong, X., & Tang, S. (2022) · IEEE Transactions on Intelligent Vehicles · doi:10.1109/tiv.2022.3156429 · Cited by 62 · see citing works
Self-citationCentralized and optimal motion planning for large-scale AGV systems: A generic approach
Li, B., Liu, H., Xiao, D., Yu, G., & Zhang, Y. M. (2017) · Advances in Engineering Software · doi:10.1016/j.advengsoft.2017.01.002 · Cited by 62 · see citing works
Self-citationSoloperto, R., Köhler, J., Allgöwer, F., & Müller, M. A. (2019) · European Control Conference (ECC) · doi:10.23919/ecc.2019.8796049 · Cited by 59 · see citing works
Autonomous dispatch trajectory planning on flight deck: A search-resampling-optimization framework
Wang, X., Li, B., Su, X., Peng, H., Wang, L., Lu, C., & Wang, C. (2023) · Engineering Applications of Artificial Intelligence · doi:10.1016/j.engappai.2022.105792 · Cited by 57 · see citing works
Self-citationLi, B., Zhang, Y. M., Acarma, T., Kong, Q., & Zhang, Y. J. (2019) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2019.8793955 · Cited by 57 · see citing works
Self-citationLi, B., Zhang, Y. M., Zhang, Y. J., Jia, N., & Ge, Y. (2018) · IEEE Intelligent Vehicles Symposium · doi:10.1109/ivs.2018.8500528 · Cited by 56 · see citing works
Self-citationLi, B., Cao, D., Tang, S., Zhang, T., Dong, H., Wang, Y., & Wang, F. (2022) · IEEE Transactions on Systems Man and Cybernetics Systems · doi:10.1109/tsmc.2022.3225250 · Cited by 54 · see citing works
Self-citationLian, J., Ren, W., Yang, D., Li, L., & Yu, F. (2023) · IEEE Transactions on Intelligent Vehicles · doi:10.1109/tiv.2023.3268088 · Cited by 54 · see citing works
Trajectory Planning for an Autonomous Vehicle in Spatially Constrained Environments
Guo, Y., Yao, D., Li, B., He, Z., Gao, H., & Li, L. (2022) · IEEE Transactions on Intelligent Transportation Systems · doi:10.1109/tits.2022.3164548 · Cited by 52 · see citing works
Self-citationVelocity Obstacle for Polytopic Collision Avoidance for Distributed Multi-Robot Systems
Huang, J., Zeng, J., Chi, X., Sreenath, K., Liu, Z., & Su, H. (2023) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2023.3269295 · Cited by 50 · see citing works
Li, B., Acarman, T., Peng, X., Zhang, Y. M., Bian, X., & Kong, Q. (2020) · European Control Conference (ECC) · doi:10.23919/ecc51009.2020.9143786 · Cited by 50 · see citing works
Self-citationA Survey of Trajectory Planning Methods for Autonomous Driving—Part I: Unstructured Scenarios
Guo, Y., Guo, Z., Wang, Y., Yao, D., Li, B., & Li, L. (2023) · IEEE Transactions on Intelligent Vehicles · doi:10.1109/tiv.2023.3337318 · Cited by 49 · see citing works
Self-citationSimultaneous versus joint computing: A case study of multi-vehicle parking motion planning
Li, B., Zhang, Y. M., Shao, Z., & Jia, N. (2017) · Journal of Computational Science · doi:10.1016/j.jocs.2017.03.015 · Cited by 49 · see citing works
Self-citationLi, B., Zhang, Y. M., Ge, Y., Shao, Z., & Li, P. (2017) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2017.8206215 · Cited by 47 · see citing works
Self-citationPrecise trajectory optimization for articulated wheeled vehicles in cluttered environments
Li, B., & Shao, Z. (2015) · Advances in Engineering Software · doi:10.1016/j.advengsoft.2015.10.008 · Cited by 46 · see citing works
Self-citationLi, B., Zhang, Y. M., Zhang, T., Acarman, T., Ouyang, Y., Li, L., Dong, H., & Cao, D. (2023) · IEEE Transactions on Intelligent Transportation Systems · doi:10.1109/tits.2023.3316175 · Cited by 45 · see citing works
Self-citationLi, B., Wang, Y., Ma, S., Bian, X., Hu, L., Zhang, T., Li, X., & Zhang, Y. M. (2023) · IEEE Transactions on Intelligent Vehicles · doi:10.1109/tiv.2023.3296435 · Cited by 45 · see citing works
Self-citationLi, B., Li, L., Acarman, T., Shao, Z., & Yue, M. (2021) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2021.3131693 · Cited by 43 · see citing works
Self-citationLi, B., Zhang, Y. M., & Shao, Z. (2016) · Knowledge-Based Systems · doi:10.1016/j.knosys.2016.06.008 · Cited by 41 · see citing works
Self-citationTDR-OBCA: A Reliable Planner for Autonomous Driving in Free-Space Environment
He, R., Zhou, J., Jiang, S., Wang, Y., Tao, J., Song, S., Hu, J., Miao, J., & Luo, Q. (2021) · Proceedings of the ... American Control Conference/Proceedings of the American Control Conference · doi:10.23919/acc50511.2021.9483020 · Cited by 40 · see citing works
Real-time motion planning in the presence of moving obstacles
Mercy, T., Loock, W. V., & Pipeleers, G. (2016) · European Control Conference (ECC) · doi:10.1109/ecc.2016.7810517 · Cited by 39 · see citing works
Autonomous Last-Mile Delivery Vehicles in Complex Traffic Environments
Li, B., Liu, S., Tang, J., Gaudiot, J., Zhang, L., & Kong, Q. (2020) · Computer · doi:10.1109/mc.2020.2970924 · Cited by 39 · see citing works
Self-citationA New Trajectory Tracking Algorithm for Autonomous Vehicles Based on Model Predictive Control
Huang, Z., Li, H., Li, W., Liu, J., Huang, C., Yang, Z., & Fang, W. (2021) · Sensors · doi:10.3390/s21217165 · Cited by 39 · see citing works
Sun, C., Li, Q., Li, B., & Li, L. (2021) · IEEE Transactions on Intelligent Transportation Systems · doi:10.1109/tits.2020.3041075 · Cited by 38 · see citing works
Self-citationA human-like decision intelligence for obstacle avoidance in autonomous vehicle parking
Nakrani, N. M., & Joshi, M. M. (2021) · Applied Intelligence · doi:10.1007/s10489-021-02653-3 · Cited by 37 · see citing works
Li, B., Fan, L., Ouyang, Y., Tang, S., Wang, X., Cao, D., & Wang, F. (2022) · IEEE Transactions on Intelligent Vehicles · doi:10.1109/tiv.2022.3228963 · Cited by 37 · see citing works
Self-citationTime-optimal trajectory planning for tractor-trailer vehicles via simultaneous dynamic optimization
Li, B., Wang, K., & Shao, Z. (2015) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2015.7353917 · Cited by 32 · see citing works
Self-citationLi, B., & Zhang, Y. M. (2020) · IFAC-PapersOnLine · doi:10.1016/j.ifacol.2020.12.1549 · Cited by 31 · see citing works
Self-citationThirugnanam, A., Zeng, J., & Sreenath, K. (2022) · Proceedings of the ... American Control Conference/Proceedings of the American Control Conference · doi:10.23919/acc53348.2022.9867246 · Cited by 31 · see citing works
Li, B., & Shao, Z. (2015) · IEEE International Conference on Robotics and Biomimetics (ROBIO) · doi:10.1109/robio.2015.7418974 · Cited by 31 · see citing works
Self-citationWu, B., Qian, L., Lu, M., Qiu, D., & Liang, H. (2019) · IET Intelligent Transport Systems · doi:10.1049/iet-its.2019.0119 · Cited by 30 · see citing works
Moon, J., Bae, I., & Kim, S. (2017) · IEEE Intelligent Vehicles Symposium · doi:10.1109/ivs.2017.7995719 · Cited by 29 · see citing works
Li, B., & Zhang, Y. M. (2018) · IFAC-PapersOnLine · doi:10.1016/j.ifacol.2018.09.529 · Cited by 29 · see citing works
Self-citationLi, B., Jia, N., Li, P., Ran, X., & Li, Y. (2019) · Journal of Intelligent Transportation Systems · doi:10.1080/15472450.2018.1562349 · Cited by 27 · see citing works
Self-citationChoi, J., Chin, H., Park, H., Kwon, D., Baek, D., & Lee, S.-H. (2024) · IEEE Transactions on Intelligent Transportation Systems · doi:10.1109/tits.2024.3493060 · Cited by 26 · see citing works
Wiseman, Y. (2020) · Advances in information quality and management · doi:10.4018/978-1-7998-3479-3.ch001 · Cited by 26 · see citing works
Li, S., Anis, M., Lord, D., Zhang, H., Zhou, Y., & Ye, X. (2024) · Accident Analysis & Prevention · doi:10.1016/j.aap.2024.107649 · Cited by 25 · see citing works
Li, B., Zhang, Y. M., Acarman, T., Ouyang, Y., Yaman, C., & Wang, Y. (2021) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra48506.2021.9562015 · Cited by 25 · see citing works
Self-citationYuan, Z., Wang, Z., Li, X., Li, L., & Zhang, L. (2023) · Sensors · doi:10.3390/s23084087 · Cited by 25 · see citing works
Pagot, E., Piccinini, M., Bertolazzi, E., & Biral, F. (2023) · IEEE Access · doi:10.1109/access.2023.3330431 · Cited by 24 · see citing works
Parking Planning Under Limited Parking Corridor Space
Cai, L., Guan, H., Zhou, Z. Y., Xu, F. L., Jia, X., & Zhan, J. (2022) · IEEE Transactions on Intelligent Transportation Systems · doi:10.1109/tits.2022.3219651 · Cited by 23 · see citing works
Noroozi, F., Daneshmand, M., & Fiorini, P. (2023) · Machines · doi:10.3390/machines11070722 · Cited by 22 · see citing works
A Point-to-Ray Framework for Generating Smooth Parallel Parking Maneuvers
Upadhyay, S., & Ratnoo, A. (2018) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2018.2795655 · Cited by 22 · see citing works
A Trajectory Planning Method for Autonomous Valet Parking via Solving an Optimal Control Problem
Chen, C., Wu, B., Xuan, L., Chen, J., Wang, T., & Qian, L. (2020) · Sensors · doi:10.3390/s20226435 · Cited by 21 · see citing works
Spherical robot: A novel robot for exploration in harsh unknown environments
Ren, W., Wang, Y., Liu, H., Jin, S., Wang, Y., Liu, Y., Zhang, Z., Hu, T., & Li, G. (2023) · IET Cyber-Systems and Robotics · doi:10.1049/csy2.12099 · Cited by 21 · see citing works
A guaranteed collision‐free trajectory planning method for autonomous parking
Zhang, Z., Lu, S., Xie, L., Su, H., Li, D., Wang, Q., & Xu, W. (2020) · IET Intelligent Transport Systems · doi:10.1049/itr2.12028 · Cited by 21 · see citing works
Automotive decentralized diagnosis based on CAN real-time analysis
Nasri, O., Lakhal, N. M. B., Adouane, L., & Slama, J. B. H. (2019) · Journal of Systems Architecture · doi:10.1016/j.sysarc.2019.01.009 · Cited by 20 · see citing works
Wang, X., Deng, Z., Li, H., Wang, L., Jin, J., & Su, X. (2024) · IEEE Transactions on Aerospace and Electronic Systems · doi:10.1109/taes.2024.3468292 · Cited by 19 · see citing works
Li, B., Zhang, Y. M., Jia, N., & Peng, X. (2020) · IFAC-PapersOnLine · doi:10.1016/j.ifacol.2020.12.1611 · Cited by 19 · see citing works
Self-citationSelf-Driving Car - A Computer will Park for You
Wiseman, Y. (2017) · International Journal of Engineering & Technology for Automobile Security · doi:10.21742/ijetas.2017.1.1.02 · Cited by 19 · see citing works
A bilevel optimal motion planning (BOMP) model with application to autonomous parking
Shi, S., Xiong, Y., Chen, J., & Xiong, C. (2019) · International Journal of Intelligent Robotics and Applications · doi:10.1007/s41315-019-00109-z · Cited by 19 · see citing works
Yang, J., Wang, J., Li, J., Meng, X., Jiang, X., & Lu, C. (2024) · Robotics and Autonomous Systems · doi:10.1016/j.robot.2024.104909 · Cited by 18 · see citing works
An Automatic Parking Algorithm Design Using Multi-Objective Particle Swarm Optimization
Daniali, S. M., Khosravi, A., Sarhadi, P., & Tavakkoli, F. (2023) · IEEE Access · doi:10.1109/access.2023.3276858 · Cited by 18 · see citing works
UAV route planning for aerial photography under interval uncertainties
Liu, H., Lin, M., & Deng, L. (2016) · Optik · doi:10.1016/j.ijleo.2016.06.117 · Cited by 18 · see citing works
Remote Parking for Autonomous Vehicles
Wiseman, Y. (2017) · International Journal of Hybrid Information Technology · doi:10.14257/ijhit.2017.10.1.27 · Cited by 18 · see citing works
Creating Autonomous Vehicle Systems, Second Edition
Liu, S., Li, L., Tang, J., Wu, S., & Gaudiot, J. (2020) · Synthesis lectures on computer science · doi:10.2200/s01036ed1v01y202007csl012 · Cited by 18 · see citing works
Hegedűs, F., Bécsi, T., Aradi, S., & Gáspár, P. (2019) · Strojniški vestnik – Journal of Mechanical Engineering · doi:10.5545/sv-jme.2018.5802 · Cited by 18 · see citing works
Hierarchically depicting vehicle trajectory with stability in complex environments
Han, Z., Tian, M., Gongye, Z., Xue, D., Xing, J., Wang, Q., Gao, Y., Wang, J., Xu, C., & Gao, F. (2025) · Science Robotics · doi:10.1126/scirobotics.ads4551 · Cited by 17 · see citing works
A novel adaptive pseudospectral method for the optimal control problem of automatic car parking
Chen, X., Mai, H., Zhang, Z., & Gu, F. (2021) · Asian Journal of Control · doi:10.1002/asjc.2534 · Cited by 17 · see citing works
Robust Parking Path Planning with Error-Adaptive Sampling under Perception Uncertainty
Lee, S., Lim, W., & Sunwoo, M. (2020) · Sensors · doi:10.3390/s20123560 · Cited by 16 · see citing works
Visualized trajectory planning of flexible redundant robotic arm using a novel hybrid algorithm
Cao, H., Sun, S., Zhang, K., & Tang, Z. (2016) · Optik · doi:10.1016/j.ijleo.2016.07.078 · Cited by 16 · see citing works
Hua, B., Chai, R., Wang, X., Chai, S., Zhang, J., & Xia, Y. (2024) · IEEE Transactions on Intelligent Transportation Systems · doi:10.1109/tits.2024.3358380 · Cited by 15 · see citing works
Song, S., Chen, H., Sun, H., Liu, M., & Xia, T. (2022) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2021.3139950 · Cited by 15 · see citing works
Li, B., & Zhang, Y. M. (2019) · International Conference on Advanced Robotics and Mechatronics (ICARM) · doi:10.1109/icarm.2019.8834258 · Cited by 15 · see citing works
Self-citationWei, P., Peng, C., Lu, W., Zhu, Y., Vougioukas, S. G., Fei, Z., & Ge, Z. (2025) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2025.3534056 · Cited by 14 · see citing works
Li, K., Li, X., Wu, Y. C., Deng, Z., Wang, Y., Meng, Y. R. F. Y. D., Li, B., Su, X., Wang, L., & Wang, X. (2025) · Defence Technology · doi:10.1016/j.dt.2025.09.006 · Cited by 14 · see citing works
Self-citationA Discrete Control Method for the Unsignalized Intersection Based on Cooperative Grouping
Chen, C., Wu, B., Xuan, L., Chen, J., & Qian, L. (2021) · IEEE Transactions on Vehicular Technology · doi:10.1109/tvt.2021.3128390 · Cited by 14 · see citing works
Zhang, W., Street, C., & Mansouri, M. I. (2024) · Robotics and Autonomous Systems · doi:10.1016/j.robot.2024.104773 · Cited by 14 · see citing works
A new geometry-based secondary path planning for automatic parking
Zhou, R.-F., Liu, X., & Cai, G. (2020) · International Journal of Advanced Robotic Systems · doi:10.1177/1729881420930575 · Cited by 14 · see citing works
A Programmable Hardware Accelerator for Simulating Dynamical Systems
Kung, J., Long, Y., Kim, D.-H., & Mukhopadhyay, S. (2017) · Proceedings - International Symposium on Computer Architecture/Proceedings · doi:10.1145/3079856.3080252 · Cited by 14 · see citing works
Hierarchical Planning for Autonomous Parking in Dynamic Environments
Wang, Y., Hansen, E., & Ahn, H. (2024) · IEEE Transactions on Control Systems Technology · doi:10.1109/tcst.2024.3367468 · Cited by 13 · see citing works
Cooperative Ramp Merging Strategy at Multi-Lane Area for Automated Vehicles
Chen, R., & Yang, Z. (2024) · IEEE Transactions on Vehicular Technology · doi:10.1109/tvt.2024.3401232 · Cited by 13 · see citing works
Cen, H., Li, B., Acarman, T., Zhang, Y. M., Ouyang, Y., & Dong, Y. (2021) · IEEE Intelligent Vehicles Symposium · doi:10.1109/iv48863.2021.9575439 · Cited by 13 · see citing works
Self-citationAutomatic Parking Controller with a Twin Artificial Neural Network Architecture
Moon, J., Bae, I., & Kim, S. (2019) · Mathematical Problems in Engineering · doi:10.1155/2019/4801985 · Cited by 13 · see citing works
Dynamic Trajectory Planning and Optimization for Automated Driving on Ice and Snow Covered Road
Pan, J., Wang, J., & Xing, S. (2023) · IEEE Access · doi:10.1109/access.2023.3266006 · Cited by 12 · see citing works
Rezaei, M., Cao, M., Liu, Q., & Vos, J. D. (2023) · Journal of Advanced Transportation · doi:10.1155/2023/6065060 · Cited by 12 · see citing works
Nonlinear programming for multi-vehicle motion planning with homotopy initialization strategies
Li, B., Shao, Z., Zhang, Y. M., & Li, P. (2017) · IEEE International Conference on Automation Science and Engineering (CASE) · doi:10.1109/coase.2017.8256090 · Cited by 12 · see citing works
Self-citationAtomic potential matching: An evolutionary target recognition approach based on edge features
Li, B. (2015) · Optik · doi:10.1016/j.ijleo.2015.11.186 · Cited by 11 · see citing works
Self-citationAn evolutionary approach for image retrieval based on lateral inhibition
Li, B. (2016) · Optik · doi:10.1016/j.ijleo.2016.02.056 · Cited by 11 · see citing works
Self-citationZang, Z., Gong, X., Zhang, X., & Gong, J. (2025) · Knowledge-Based Systems · doi:10.1016/j.knosys.2025.114055 · Cited by 10 · see citing works
Chi, X., Liu, Z., Huang, J., Hong, F., & Su, H. (2022) · Chinese Control and Decision Conference (CCDC) · doi:10.1109/ccdc55256.2022.10033904 · Cited by 10 · see citing works
Hua, Y., Jiang, H., Ma, S., Zhang, D., & Ma, J. (2016) · Advances in Mechanical Engineering · doi:10.1177/1687814016654635 · Cited by 10 · see citing works
Li, B., Zhang, Y. M., Jia, N., Zhou, C., Ge, Y., Liu, H., Wei, M., & Ji, C. (2017) · IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) · doi:10.1109/ssrr.2017.8088156 · Cited by 10 · see citing works
Self-citationVehicle Motion Planning in Complex Environment via Decomposition and Convexification
Chen, R., Cheng, J., Liang, Z., Ding, S., & Yang, Z. (2023) · IEEE Internet of Things Journal · doi:10.1109/jiot.2023.3331838 · Cited by 9 · see citing works
A rapid iterative trajectory planning method for automated parking through differential flatness
Li, Z., Xie, L., Hu, C., & Su, H. (2024) · Robotics and Autonomous Systems · doi:10.1016/j.robot.2024.104816 · Cited by 9 · see citing works
- Authors
- Li, B., & Shao, Z.
- Affiliations
- Zhejiang University (CN)
- State Key Laboratory of Industrial Control Technology (CN)
- Corresponding author
- Shao, Zhijiang
- Venue
- Knowledge-Based Systems
- Publisher
- Elsevier BV
- Published
- 2015-09
- Volume
- 86
- Pages
- 11-20
- ISSN
- 0950-7051 (ISSN-L)
- OpenAlex
- W2027311349
- Cited by
- 195
- References
- 35
- Citations by year
- 2026: 13 · 2025: 31 · 2024: 17 · 2023: 26 · 2022: 17 · 2021: 20 · 2020: 15 · 2019: 18 · 2018: 11 · 2017: 13 · 2016: 8 · 2015: 6
- FWCI
- 10.99
- Type
- journal article
- Language
- en
- Open access
- hybrid
- doi.org
- Locations
- Knowledge-Based Systems (publishedVersion, cc-by)
- Funders
- Program of China (2012CB720503)
- National Nature Science Foundation (61374167)
- 6th National College Students’ Innovation & Entrepreneurial Training Program (201210006050)
- Topics
- Physical Sciences › Computer Science › Computer Vision and Pattern Recognition › Robotic Path Planning Algorithms
- Physical Sciences › Engineering › Automotive Engineering › Vehicle Dynamics and Control Systems
- Physical Sciences › Engineering › Automotive Engineering › Autonomous Vehicle Technology and Safety
- Keywords
- autonomous parking, motion planning, irregular obstacles, time-optimal control, dynamic optimization, vehicle kinematics, collision avoidance, interior point methods, parallel parking, perpendicular parking
About these checks
Registry, retraction, Cites and statistics results are computed, not judged, with one exception: a printed reference that no index lists is read once by a model before it counts as a citation error. Claims are extracted by a model and kept only when their quote appears verbatim in the text; each cited source is then checked, with a model’s help, for whether it says what the claim relies on. Those verdicts can be wrong — read the claim’s quote and the cited source before relying on one.
Statistics and arithmetic are recomputed, not judged.
Confidence bands are shown only for fields calibrated on our annotated test set. None is calibrated yet, so no band is shown.
What counts as a claim ›How we measure confidence ›How we check this ›
Are you an author, or do you see a problem with this page? Request a review
