Real-time path planning of autonomous vehicles for unstructured road navigation

Title
Real-time path planning of autonomous vehicles for unstructured road navigation
Authors
선우명호
Keywords
Autonomous vehicle; Graph-based search; Path planning; Pythagorean hodograph
Issue Date
2015-08
Publisher
KOREAN SOC AUTOMOTIVE ENGINEERS-KSAE
Citation
INTERNATIONAL JOURNAL OF AUTOMOTIVE TECHNOLOGY, v. 16, Page. 653-668
Abstract
This paper presents a path planning algorithm for autonomous vehicles to generate feasible and smooth maneuvers in unstructured environments. Our approach uses a graph-based search algorithm and a discrete kinematic vehicle model to find a primitive path that is non-holonomic, collision-free, and safe. The algorithm then improves the quality and smoothness of the identified path by making local shortcuts. This shortcut for smoothing the path is determined by connecting the internal state of the primitive path to the initial state based on the Pythagorean Hodograph (PH) cubic curve. The formulation of the PH cubic curves in the smoothing path provides arc-length parameterization of the curve in a closed form. We present examples and experimental results for the real time path planning in unstructured road from an implementation on an autonomous vehicle.
URI
https://link.springer.com/article/10.1007/s12239-015-0067-5http://hdl.handle.net/20.500.11754/26879
ISSN
1229-9138; 1976-3832
DOI
http://dx.doi.org/10.1007/s12239-015-0067-5
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > DEPARTMENT OF AUTOMOTIVE ENGINEERING(미래자동차공학과) > Articles
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