Visualization of all tested cases for the paper "Fast Optimization-Based Trajectory Planning with Cumulative Key Constraints for Automated Parking in Unstructured Environments" [accepted by IEEE TVT] [DOI] [accepted pdf on personal website].
Visualization:
- TPCKC: Case 1, Case 2, Case 3, Case 4, Case 5, Case 6, Case 8, Case 9, Case 10, Case 11, Case 12, Case 13, Case 14, Case 15, Case 16, Case 17, Case 18, Case 20.
- H-OBCA: Case 1, Case 2, Case 3, Case 4, Case 5, Case 6, Case 8, Case 9, Case 10, Case 11, Case 12, Case 13, Case 14, Case 15, Case 16, Case 17, Case 18, Case 20.
- TDR-OBCA: Case 1, Case 2, Case 3, Case 4, Case 5, Case 6, Case 8, Case 9, Case 10, Case 11, Case 12, Case 13, Case 14, Case 15, Case 16, Case 17, Case 18, Case 20.
- Corridor: Case 10, Case 11, Case 12, Case 16.
TPCAP:
We assume that the obstacle or vehicle shapes have already been dilated with a safety distance. Therefore, no further dilation is performed, and in the planned trajectory, the gaps between the vehicle and obstacles can be tiny. Objects in the visualization may overlap slightly due to the existence of line width.