@inproceedings{eadd1a1f373340fe8eab5f45cda3bb54,
title = "Local Smooth Path Planning for Turning Around in Narrow Environment",
abstract = "In this paper, we introduce a local smooth path planning algorithm for turning around in narrow environment. The algorithm uses a combination of the minimum turning radius arc and the Bezier curve to generate a near optimal smoothing turn-around path in narrow roads or cluttered environments. The algorithm will generate a smooth trajectory that conforms to the kinematic constraints of unmanned ground vehicle (UGV), by adjusting the heading to the target angle through several minimum-radius turns, and smoothly connecting to the global reference path via Bezier curve. We analyze the surrounding congestion and narrowness to choose appropriate turn-around area by integrating obstacle distribution and road edges before path planning. The algorithm was tested at IN2BOT UGV in our campus and 2018 Cross Dangers obstacles. The experimental results indicated that the algorithm works efficiently with our previous work and shows good performance in accuracy and computational time.",
keywords = "UGV, narrow environment, path planning, turning around",
author = "Xiaohui Tian and Mengyin Fu and Yi Yang and Meiling Wang and Dongyu Liu",
note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 28th IEEE International Symposium on Industrial Electronics, ISIE 2019 ; Conference date: 12-06-2019 Through 14-06-2019",
year = "2019",
month = jun,
doi = "10.1109/ISIE.2019.8781283",
language = "English",
series = "IEEE International Symposium on Industrial Electronics",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1924--1929",
booktitle = "Proceedings - 2019 IEEE 28th International Symposium on Industrial Electronics, ISIE 2019",
address = "United States",
}