Multi-optimization of η3-splines for autonomous parking

This paper proposes a multi-optimization approach to the autonomous parking of car-like vehicles. It uses a polynomial curve primitive — the η-spline — to build up intrinsically feasible path maneuvers over which to minimize with a weighted sum method the total length of parking paths and the moduli of the maximum path curvature and curvature derivative. The approach takes into account the mandatory constraint of obstacle avoidance and maximal steering angle and the constraint of maximal curvature derivative which is a selectable limit to ensure the desired smoothness of the parking paths. Simulation results are included for a garage parking example.