Path planning using state lattice for autonomous vehicle

Abstract

Path, trajectory and motion planning are three fundamental classification which come under planning of autonomous vehicle. Path planning deals with searching a plausible path, mulling over of geometry, kinematics and constraints of the vehicle without considering its association with time. Here a path planning technique using state lattice strategy is adopted. A path set which incorporates all the geometry, kinematics and constraints of the vehicle, known as motion primitives is pre-figured and rotation matrix is used in this approach which describes the novelty. The primitives are pre-calculated so that while online searching of the path it won't take much investment in time and furthermore the constraints of the vehicle are included in the primitive design. The set of arranged motion primitives is alluded as state lattice. The motion primitive which is stored in structural array is later used to compute a feasible path in a map. Distinctive situations are considered for which the way has been found.