Autonomous Path Planning for Road Vehicles in Narrow Environments: An Efficient Continuous Curvature Approach
Joint Authors
Source
Journal of Advanced Transportation
Issue
Vol. 2017, Issue 2017 (31 Dec. 2017), pp.1-27, 27 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2017-10-31
Country of Publication
Egypt
No. of Pages
27
Main Subjects
Abstract EN
In this paper we introduce a novel method for obtaining good quality paths for autonomous road vehicles (e.g., cars or buses) in narrow environments.
There are many traffic situations in urban scenarios where nontrivial maneuvering in narrow places is necessary.
Navigating in cluttered parking lots or having to avoid obstacles blocking the way and finding a detour even in narrow streets are challenging, especially if the vehicle has large dimensions like a bus.
We present a combined approximation-based approach to solve the path planning problem in such situations.
Our approach consists of a global planner which generates a preliminary path consisting of straight and turning-in-place primitives and a local planner which is used to make the preliminary path feasible to car-like vehicles.
The approximation methodology is well known in the literature; however, both components proposed in this paper differ from existing similar planning methods.
The approximation process with the proposed local planner is proven to be convergent for any preliminary global paths.
The resulting path has continuous curvature which renders our method well suited for application on real vehicles.
Simulation experiments show that the proposed method outperforms similar approaches in terms of path quality in complicated planning tasks.
American Psychological Association (APA)
Kiss, Domokos& Tevesz, Gábor. 2017. Autonomous Path Planning for Road Vehicles in Narrow Environments: An Efficient Continuous Curvature Approach. Journal of Advanced Transportation،Vol. 2017, no. 2017, pp.1-27.
https://search.emarefa.net/detail/BIM-1170565
Modern Language Association (MLA)
Kiss, Domokos& Tevesz, Gábor. Autonomous Path Planning for Road Vehicles in Narrow Environments: An Efficient Continuous Curvature Approach. Journal of Advanced Transportation No. 2017 (2017), pp.1-27.
https://search.emarefa.net/detail/BIM-1170565
American Medical Association (AMA)
Kiss, Domokos& Tevesz, Gábor. Autonomous Path Planning for Road Vehicles in Narrow Environments: An Efficient Continuous Curvature Approach. Journal of Advanced Transportation. 2017. Vol. 2017, no. 2017, pp.1-27.
https://search.emarefa.net/detail/BIM-1170565
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1170565