Abstract
This paper presents a path planning algorithm for autonomous vehicles to generate feasible and smooth maneuvers in unstructured environments. Our approach uses a graph-based search algorithm and a discrete kinematic vehicle model to find a primitive path that is non-holonomic, collision-free, and safe. The algorithm then improves the quality and smoothness of the identified path by making local shortcuts. This shortcut for smoothing the path is determined by connecting the internal state of the primitive path to the initial state based on the Pythagorean Hodograph (PH) cubic curve. The formulation of the PH cubic curves in the smoothing path provides arc-length parameterization of the curve in a closed form. We present examples and experimental results for the real time path planning in unstructured road from an implementation on an autonomous vehicle.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
