Autonomous Path Planning for Road Vehicles in Narrow Environments: An Efficient Continuous Curvature Approach

In this paper the authors 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. The authors present a combined approximation-based approach to solve the path planning problem in such situations. The 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 the 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.

• Record URL:
  • https://doi.org/10.1155/2017/2521638
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/oclc/5121625
• Supplemental Notes:
  • © 2017 Domokos Kiss and Gábor Tevesz.
• Authors:
  • Kiss, D
  • Tevesz, G
• Publication Date: 2017

Language

• English

Media Info

• Media Type: Web
• Features: References;
• Serial:
  • Journal of Advanced Transportation
  • Volume: 2017
  • Issue Number: Article ID 2521638
  • Publisher: John Wiley & Sons, Incorporated
  • ISSN: 0197-6729
  • EISSN: 2042-3195
  • Serial URL: http://onlinelibrary.wiley.com/journal/10.1002/(ISSN)2042-3195
• Publication flags:

  Open Access (libre)

Subject/Index Terms

• TRT Terms: Autonomous land vehicles; Proximity detectors; Traffic lanes; Trajectory control; Urban highways
• Subject Areas: Highways; Safety and Human Factors; Vehicles and Equipment;

Filing Info

• Accession Number: 01666170
• Record Type: Publication
• Files: TRIS
• Created Date: Apr 17 2018 11:32AM