TY - GEN
T1 - Collision-free and kinematically feasible path planning along a reference path for autonomous vehicle
AU - Fu, Mengyin
AU - Zhang, Kai
AU - Yang, Yi
AU - Zhu, Hao
AU - Wang, Meiling
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/8/26
Y1 - 2015/8/26
N2 - For the local path planning problem of autonomous vehicle in a complicated environment, a method combining cubic hermite spline curves with the kinematic model of autonomous vehicle is developed. And a novel algorithm for obstacle avoidance, called navigation circle, is proposed to take the road structure into account, which is a practical method for real-time path planning. In the new method, one of the trajectory generated by cubic hermite spline curves or navigation circle is optimized through the kinematic model of autonomous vehicle to get the kinematically feasible trajectory. The optimization is actually a numerical forward propagation and is easy to implement. The simulation experiment is conducted on the Robot Operating System (ROS) platform, which is based on replaying the data of the real world obtained from sensors or other modules on autonomous vehicle. Satisfactory simulation results verify the validity and the efficiency of the proposed method as well as the planner's capability to navigate in a realistic scenario.
AB - For the local path planning problem of autonomous vehicle in a complicated environment, a method combining cubic hermite spline curves with the kinematic model of autonomous vehicle is developed. And a novel algorithm for obstacle avoidance, called navigation circle, is proposed to take the road structure into account, which is a practical method for real-time path planning. In the new method, one of the trajectory generated by cubic hermite spline curves or navigation circle is optimized through the kinematic model of autonomous vehicle to get the kinematically feasible trajectory. The optimization is actually a numerical forward propagation and is easy to implement. The simulation experiment is conducted on the Robot Operating System (ROS) platform, which is based on replaying the data of the real world obtained from sensors or other modules on autonomous vehicle. Satisfactory simulation results verify the validity and the efficiency of the proposed method as well as the planner's capability to navigate in a realistic scenario.
UR - http://www.scopus.com/inward/record.url?scp=84950987561&partnerID=8YFLogxK
U2 - 10.1109/IVS.2015.7225800
DO - 10.1109/IVS.2015.7225800
M3 - Conference contribution
AN - SCOPUS:84950987561
T3 - IEEE Intelligent Vehicles Symposium, Proceedings
SP - 907
EP - 912
BT - IV 2015 - 2015 IEEE Intelligent Vehicles Symposium
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - IEEE Intelligent Vehicles Symposium, IV 2015
Y2 - 28 June 2015 through 1 July 2015
ER -