A Hybrid A*-based planner is extended to handle reverse kinematics of vehicle-trailer systems while enforcing jackknife-preventing steering bounds and collision avoidance during parking maneuvers.
Stability of Local Trajectory Planning for Level- 2+ Semi- Autonomous Driving without Absolute Localization,
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Hybrid A*-Based Reverse Path-Planning of a Vehicle with Trailer System
A Hybrid A*-based planner is extended to handle reverse kinematics of vehicle-trailer systems while enforcing jackknife-preventing steering bounds and collision avoidance during parking maneuvers.