Hybrid AStar Trailer

A path planning algorithm based on Hybrid A* for trailer truck.

Goal

I want to achieve this on autonomous vehicle (click the image to see movie).

Fedex truck amazing reverse parking - YouTube

Simulation Examples

These are simulation results for autonomous parking in a narrow space.

This planner can generate a feasible path from diffent start states.

Perpendicular parking

Parallel parking

Requirements

• Julia 1.1.0

• PyPlot

• DataFrames

• NearestNeighbors

• DataStructures

How to use

1. Install the required libraries.

2. Clone this repo.

3. Run the script like: julia perpendicular_parking.jl or julia parallel_parking.jl

4. Add star to this repo if you like it .

Algorithm

This algorithm is almost same as the original Hybrid A * algorithm.

• Practical Search Techniques in Path Planning for Autonomous Driving

I will explain the some diffent parts of it.

Vehicle Model

This is the vehicle model which is used in this code.

x and y are 2D positions.

θ0 and θ1 is the orientation of vehicle and trailer respectively.

Ref:

• 13.1.2.4 A car pulling trailers

Hybrid A * for trailer

This algorithm has 3 novelies for traier parking.

1. 4D (x,y,θ0,θ1) gridding of Hybrid A *.

2. Adding the Jackknif cost: Σ|θ0 - θ1|.

3. Two rectangle (truck and trailer) collision check.

Other materials

• トレーラトラックの自動駐車計画アルゴリズムの紹介@ROS Japan UG #24 勉強会 (in Japanease)

License

MIT

Author

Atsushi Sakai (@Atsushi_twi)