Abstract
This paper presents an integrated framework for a suite of dynamic path planning algorithms for real time and concurrent movement of multiple robotic carts across a parking garage floor layout without driving lanes. Planning and search algorithms were formulated to address major aspects of automation for storage and retrieval of cars loaded onto robotic mobile carts. Path planning algorithms including A*, D* Lite and Uniform Cost Search were implemented and integrated within a unified framework to guide the robotic carts from a starting point to their destination during the storage and the retrieval processes. For the circumstances where there is no clear path for a car being stored or retrieved, a procedure was developed to unblock the obstacles in the path. A policy that minimizes obstructions was defined for assigning the parking spots on a given floor for arriving cars. Performance evaluation of the overall proposed system was done using a multithreaded software application. A variety of rectangular parking lot layouts including those with 20 × 20, 20 × 40, 30 × 40, and 40 × 40 parking spaces were considered in the simulation study. Performance metrics of path length, planning or search time and memory space requirements were monitored. Simulation results demonstrate that the proposed design facilitates near optimal paths, and is able to handle tens of concurrent requests in real time and in the presence of immobilized carts.
Similar content being viewed by others
References
Mathijssen A, Johannes A, Pretorius AJ (2006) Verified design of an automated parking garage. In: Luboš B, Haverkort B, Leucker M, Van De Pol J (eds) Proceedings of the 11th international workshop, FMICS 2006 and 5th international workshop, PDMC conference on Formal methods: Applications and technology (FMICS’06/PDMC’06). Springer-Verlag, Berlin, pp 165–180
Idris MYI, Tamil EM, Razak Z, Noor NM, Kin LW (2009) Smart parking system using image processing techniques in wireless sensor network environment. Inf Technol J 8:114–127
Kurogo H, Takada K, Akiyama H (1995) Concept of a parking guidance system and its effects in the Shinjuku area – configuration, performance, and future improvement of system. In: Proc. conf. vehicle navigation and information systems, Seattle, pp 67–74
(2008) Parking lots at Beijing Airport. http://beijing-pek.airports-guides.com/pek_airport_parking.html. Accessed 17 July 2014
Ristola T (1992) Parking guidance system in Tapiola. In: Proceedings of IEE conference road traffic monitoring, p 195
Pala Z, Inanc N (2007) Smart parking applications using RFID technology. In: Proceedings of the 1st annual RFID Eurasia, Istanbul, pp 1–3
Axhausen KW, Polak JW, Boltze M, Puzicha J (1994) Effectiveness of the parking guidance information system in Frankfurt AM Main. Traffic Eng Control 304–309
Camacho C (2008) Automated Parking System. U.S. Patent No. US 2008/0051951 A1, Feb. 28, 2008
Robotic Parking Systems, Inc. http://www.roboticparking.com/. Accessed 10 July 2014
Bruce JR, Veloso MM (2006) Safe multirobot navigation within dynamics constraints. Proc IEEE 94:1389–1441
Kitano H, Asada M, Kuniyoshi Y, Noda I, Osawa E (1995) RoboCup: the robot World Cup initiative. In: Proceedings of IJCAI-95 Workshop on Entertainment and AJ/ALife, pp 340–347
Svestka P, Overmars MH (1998) Coordinated path planning for multiple robots. Robot Auton Syst 23:125–152
Van den Berg J, Snoeyink J, Lin M, Manocha D (2009) Centralized path planning for multiple robots: optimal decoupling into sequential plans. Proc Robot Sci Syst V:34–45
Astengo-Noguez C, Sanchez-Ante G, Calzada JR, Sisnett-Hernández R (2008) Multi-robot collective path finding in dynamic environments. In: Proceedings MICAI ’08 Proceedings of the 7th Mexican international conference on artificial intelligence: advances in artificial intelligence, pp 310–344
Russell S, Norvig P (2002) Artificial intelligence: a modern approach, 2nd edn. Prentice Hall, Upper Saddle River
Stentz A (1995) The focused D* algorithm for real-time replanning. In: Proceedings of the international joint conference on artificial intelligence, pp 2–6
Koenig S, Likhachev M (2002) Improved fast replanning for robot navigation in unknown terrain. Proc IEEE Int Conf Robot Autom 1:968–975
Likhachev M, Ferguson D, Gordon G, Stentz A, Thrun S (2005) Anytime dynamic A*: an anytime replanning algorithm. In: Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS), pp 262–271
Likhachev M, Gordon G, Thrun S (2003) ARA*: anytime A* with provable bounds on sub-optimality. In: Advances in Neural information processing systems. MIT Press, pp 767– 774
Koenig S, Likhachev M, Furcy D (2004) Lifelong planning A*. Artif Intell J 155:93–146
Rabin S (2000) A* speed optimizations. In: DeLoura M (ed). Charles River Media, Rockland, pp 72–287
Sven Koenig S, Likhachev M (2006) Real-time adaptive A*. In: Proceedings of the international joint conference on autonomous agents and multiagent systems (AAMAS), pp 218–288
Kavraki LE, Latombe JC (1994) Randomized preprocessing of configuration space for fast path planning
Kavraki LE, Svestka P, Latombe JC, Overmars MH (1996) Probabilistic roadmaps for path planning in high-dimensional configuration spaces. IEEE Trans Robot Autom 12:566–580
LaValle SM (1998) Rapidly-exploring random trees: a new tool for path planning:98–11. Tech. Rep. TR
Undeger C, Polat F (2007) RTTES: Real-time search in dynamic environments. Appl Intell 27/2:113–129
Acknowledgments
The authors would like to recognize the contribution by Mr. Dustin Baumgartner who performed a preliminary exploration of the search and planning algorithms for the same problem considered in this paper.
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Serpen, G., Dou, C. Automated robotic parking systems: real-time, concurrent and multi-robot path planning in dynamic environments. Appl Intell 42, 231–251 (2015). https://doi.org/10.1007/s10489-014-0598-x
Published:
Issue Date:
DOI: https://doi.org/10.1007/s10489-014-0598-x