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.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have