Feasible Path Planning for Autonomous Vehicles

Abstract EN

The objective of this paper is to find feasible path planning algorithms for nonholonomic vehicles including flatness, polynomial, and symmetric polynomial trajectories subject to the real vehicle dynamical constraints.

Performances of these path planning methods are simulated and compared to evaluate the more realistic and smoother generated trajectories.

Results show that the symmetric polynomial algorithm provides the smoothest trajectory.

Therefore, this algorithm is recommended for the development of an automatic control for autonomous vehicles.