Real-time path planning of autonomous vehicles for unstructured road navigation

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 sa...

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Published inInternational journal of automotive technology Vol. 16; no. 4; pp. 653 - 668
Main Authors Chu, K., Kim, J., Jo, K., Sunwoo, M.
Format Journal Article
LanguageEnglish
Published Heidelberg The Korean Society of Automotive Engineers 01.08.2015
Springer Nature B.V
Subjects
Algorithms
Automobiles
Automotive Engineering
Autonomous
Autonomous vehicles
Engineering
Experiments
Graph representations
Kinematics
Navigation systems
Optimization
Parametrization
Path planning
Planning
R&D
Research & development
Roads
Roads & highways
Simulation
Studies
Graph-based search
Path planning
Pythagorean hodograph
Autonomous vehicle
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Summary: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.
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ISSN:1229-9138
1976-3832
DOI:10.1007/s12239-015-0067-5