Planning Continuous Curvature Paths Using Constructive Polylines

Abstract

Previous methods for planning clothoid based continuous curvature paths aim at minimizing path length. However, minimal length paths are not always smooth, natural, and drivable. We discuss a method of generating clothoid-based trajectories using constructive polylines. The goal of the motion planner is to create a path for a large car-like vehicle in human driving environments, thus, the trajectories must be smooth, drivable, and natural enough to be used on roadways. We show several examples of trajectories developed for a DARPA Urban Challenge vehicle.