Autonomous Driving Using Artificial Potential Function for Vehicle Collision Avoidance

Abstract

In this paper, we present a novel waypoint tracking scheme with the artificial potential function (APF) for autonomous vehicles. Since the global position system (GPS) waypoints from the leading vehicle are given in discrete and even irregular, smoothly connecting the global path given by GPS waypoints and the local path predicted by APF is important else severe yawing of the heading angle of the vehicle could happen. To solve the problem, we propose a new path planning method based on APF.