Research on Path Planning for Automatic Parking Based on RRT* Algorithm

As the number of cars increases in China, the problem of parking difficulty is becoming increasingly prominent, and the demand for automatic parking is becoming increasingly urgent. Reasonable path planning is crucial for automatic parking. It is very necessary to study the planning of automatic parking paths. The progressive optimal fast search tree algorithm, known as RRT $\ast$, has the characteristics of fast random search. Regardless of the complexity of the environment, it can obtain a barrier-free path after a limited number of extensions. As long as sufficient iterations are passed, a solution can be found. Therefore, this method is widely used in automatic parking scenes. In this study, a car motion model is established based on the Ackermann principle to obtain the minimum turning radius, and then a mathematical model for automatic parking is constructed. The corresponding path based on arcs and straight lines is planned. Using the progressive optimal fast search tree algorithm, the optimal parking space and the driving trajectory from the current location to the optimal parking space are calculated to meet the rapid path planning requirements in parking scenarios.