Path Planning for Auto Car-Parking using M-Space

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 This planning method is a practical solution for planning a car-parking path according to the proposed motion space (M-space) approach. The M-space is the extension of the conventional configuration space (C-space). A collision-free, nonholonomic feasible path can be directly computed by the M-space conversion and a back-propagation of reachable regions from the goal. This planning scheme provides not a single solution, but also a candidate solution set, therefore, optimization of the parking path can be easily carried out with respect to performance criteria such as safety, maneuvering, and so on.

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