With the progress of autonomous driving technology in recent years, motion planning has been an issue in the navigation of self-driving cars. To achieve an optimal path that meets the requirements of both smoothness and safety, vehicle kinematics and dynamics constraints should be considered. This paper proposes a novel motion planning method based on Hybrid A* for real-time and curvature-contentious path planning with local post smoothing in complex dynamic environments: (1)our method introduces parametric clothoid curves precomputed offline as basic motion primitives for rapid online planning; (2)the path obtained using our method is G2-continuous (i.e., curvature continuous) and does not have a considerable effect on the search time consumption, while also considering possible collisions and motion constraints of nonholonomic car-like vehicles; (3) the node re-expansion issue of conventional Hybrid A* is discussed and resolved by the proposed quintic spine-based local smoothing approach for complete path continuity. Hence, post smoothing and collision checking for the overall resulting path. Simulation and on-road tests have been performed to evaluate the efficiency of the proposed method. The method can be widely implemented in numerous complex scenarios.


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    Title :

    Hybrid A*-based Curvature Continuous Path Planning in Complex Dynamic Environments


    Contributors:
    Zhang, Songyi (author) / Chen, Yu (author) / Chen, Shitao (author) / Zheng, Nanning (author)


    Publication date :

    2019-10-01


    Size :

    2592704 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English




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