Autonomous driving technology improves the vehicles’ usage in terms of minimizing the consumed energy, time and distance. Motion planning, as the main influencer of the moving efficiency of an autonomous agent, defines how the vehicle moves and interacts with other agents. Despite the fact that motion planning for autonomous robots is a well-explored field, optimizing the path planning in terms of the computation time and path length is still a topic under research. This paper introduces an innovative approach of using the Visibility Diagram to plan the optimum holonomic path to the desired target position and at a subsequent step we propose an innovative scheme of regularizing, the path shape through using Clothoid curves as path smoother to provide the optimum non-holonomic path to the same target position. The proposed methodology has been proven to reduce the computation time of finding the shortest holonomic path by a factor of sixty percent (60%) in comparison to the normal Visibility Diagram (VD). This method was implemented in several use-cases and could efficiently plan the optimum path for all the provided scenarios.
Fusing Direct Visibility Diagram with Clothoid Curves for Motion Planning
2019-10-01
863578 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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