In this paper, we introduce an algorithm for generating collision-free two-lane paths for unmanned vehicles used at mining sites by using quartic (degree 4) B-spline curves. Given the boundary geometry of the haul road area and the positions and orientations of the two-dimensional vehicle at the start and goal points, the algorithm automatically generates a collision-free two-lane path that satisfies the minimum turning radius constraint. Moreover, the resulting path shares the same third derivative at knots (joints), i.e., $C^3$ continuity, which guarantees a continuous rate of change of the curvature along the entire path. Examples are provided to demonstrate the effectiveness of the proposed algorithm.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Automatic Two-Lane Path Generation for Autonomous Vehicles Using Quartic B-Spline Curves


    Beteiligte:
    Suzuki, Taketoshi (Autor:in) / Usami, Riku (Autor:in) / Maekawa, Takashi (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    01.12.2018


    Format / Umfang :

    6428873 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    A Spline-Based Path Planning for Lane Keeping in Autonomous Vehicles

    Hong, Hyeong Keun / Lee, Jin Sun / Kim, Eun Ho et al. | IEEE | 2025


    Efficent Lane Change Path Planning based on Quintic Spline for Autonomous Vehicles

    Li, Zhiyuan / Liang, Huawei / Zhao, Pan et al. | British Library Conference Proceedings | 2020


    Hybrid MPC and Spline-Based Controller for Lane Change Maneuvers in Autonomous Vehicles

    Abdeselam, Navil / Gutierrez-Moreno, Rodrigo / Lopez-Guillen, Elena et al. | IEEE | 2023


    Path optimization based on constrained smoothing spline for autonomous driving vehicles

    FAN HAOYANG / ZHANG LIANGLIANG / ZHANG YAJIA et al. | Europäisches Patentamt | 2020

    Freier Zugriff