Abstract
This paper presents a technic for searching and analyzing the time optimal path and motion of autonomous vehicles on the three dimensional terrains by using a structured genetic algorithm. The terrain is represented by a continues B-spline patch, and the path is obtained by B-spline curve on the patch. The time optimal motions are computed considering with vehicle dynamics and several physical constraints along the paths. The control points of the optimal path presenting B-spline curve, which are the optimized parameters, are coded to chromosomes structurally. We show a data processing system of searching the time optimal path for autonomous vehicles.
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