Presentation Details
Path Planning for Automated Valet Parking in Underground Parking Lots Based on UWB and Improved Bidirectional A* Algorithm
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Updated Time：2025-06-15 10:48:33 Hits：289
Oral Presentation
Start Time：Pending（Asia/Shanghai）
Duration：Pending
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Abstract
In increasingly complex underground parking environments, traditional path planning algorithms often struggle with low efficiency and poor path stability when handling long-distance parking tasks. To address these challenges, this paper proposes an improved bidirectional A* path planning method guided by virtual Ultra-Wideband (UWB) anchor points. The approach enhances the heuristic cost function by incorporating information from both forward and reverse search frontiers, which accelerates path convergence and reduces redundant node expansion. Additionally, virtual relay points are introduced via UWB positioning systems to guide the path direction, and the global task is executed in multiple stages to further improve search efficiency and robustness. Simulation results in the university's underground parking lot demonstrate that, compared with traditional A* and bidirectional A* algorithms, the proposed method significantly reduces both search time and node expansion, particularly in long-distance and multi-intersection scenarios. These results validate the feasibility and practicality of the proposed method for large-scale indoor automated valet parking (AVP) applications.
Keywords
automated valet parking, path planning, A*, UWB
Speaker
Liu Run
student SHENZHEN TECHNOLOGY UNIVERSITYSubmission Author
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Important Date
-
Conference Date
Aug 01
2025
toAug 04
2025
-
Aug 20 2025
Draft paper submission deadline
Sponsored By
中国机械工程学会设备智能运维分会
Organized By
新疆大学
Contact Information
- Mr. Yanruqiang
- ya******@xjtu.edu.cn
Previous Conferences
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2025-08-01 China wulumuqi
2025 International Conference on Equipment Intelligent Operation and Maintenance -
2023-09-21 China Hefei
2023 International Conference on Equipment Intelligent Operation and Maintenance
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