A Path Planning Method for Automated Parking Systems Based on Circular Arcs and Lines with Smoothly Curves

Recently, it is increasing that there are narrow parking spaces which cannot be parked by the present automated parking systems due to gaining the number of automobiles. By combing the existing planning method based on circular arcs and lines with clothoid curves and sigmoid functions, this paper proposes a new path planning method for automated parking systems. In this paper, we show our new path planning method, and the effectiveness of the proposed method is presented by simple numerical simulations.