Abstract
This paper proposes a novel practical path planning framework for autonomous parking in cluttered environments with narrow passages. The proposed global path planning method is based on an improved Fast Marching algorithm to generate a path with considering the moving forward and backward maneuver. In addition, the Support Vector Machine is utilized to provide the maximum clearance from obstacles considering the vehicle dynamics to provide a safe and feasible path. We also propose a local path planning for obstacle avoidance and tracking global path. The method is implemented on an autonomous vehicle platform and validated in the real environment with narrow passages.
