Path planning is an essential stage for mobile robot control. It is more newsworthy than ever in the automotive context and especially for autonomous vehicle. Also, path planning methods need to be reactive and adaptive regarding life situations, traffic and obstacle crossing. In this paper, a Bézler curve optimization method is proposed to cope with these constraints and autonomous vehicles are considered equipped with all necessary sensors for obstacle detection. In this way, the obstacle avoidance problem is transformed into an optimization problem under equality constraints. This optimization problem is solved by combining Quadratic Programming (QP) and Hildreth's algorithm.
Reactive Path Planning for Autonomous Vehicle Using Bézier Curve Optimization
2019 IEEE Intelligent Vehicles Symposium (IV) ; 1048-1053
01.06.2019
682528 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
REACTIVE PATH PLANNING FOR AUTONOMOUS VEHICLE USING BÉZIER CURVE OPTIMIZATION
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