A motion planning algorithm for automatic parallel parking from arbitrary initial posture

This paper presents a motion planning algorithm for automatic parallel parking under given parking environment and arbitrary initial posture, which divides the parking process into two stages, that is, from any initial posture to the target posture through the intermediate posture determined by duplex motion planning strategy. Moreover we employ the shortest path method of motion planning for each stage in the whole parking process. Simulation results show that the algorithm complete the automatic parallel parking under given parking environment and arbitrary initial posture effectively.