Continuous curvature path generation based on ββ-spline curves for parking manoeuvres

This paper focuses attention on continuous curvature path generation for parallel parking manoeuvres of autonomous conventional vehicles. The method is based on ββ-spline curves generation from a collision-free path previously calculated. Several constraints have been considered in order to ensure the existence of collision-free and admissible curves. The efficiency of the proposed method is demonstrated using the nonholonomic autonomous vehicles ROMEO-3R and ROMEO-4R designed and built at the University of Seville.