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- W7079449 abstract "Abstract—In this paper we present two path planningalgorithms based on Bezier curves for autonomous vehicles´with waypoints and corridor constraints. B´ezier curves haveuseful properties for the path generation problem. The paperdescribes how the algorithms apply these properties to gen-erate the reference trajectory for vehicles to satisfy the pathconstraints. Both algorithms join cubic Bezier curve segments´smoothly to generate the path. Additionally, we discuss theconstrained optimization problem that optimizes the resultingpath for user-defined cost function. The simulation shows thegeneration of successful routes for autonomous vehicles usingthese algorithms as well as control results for a simple kine-matic vehicle. Extensions of these algorithms towards navigat-ing through an unstructured environment with limited sensorrange are discussed.Keywords: B´ezier,PathPlanning,Optimization,AutonomousVehicle, Feedback Control. 1. Introduction Exploiting the versatility of autonomous vehicles for aca-demic, industrial, and military applications will have a pro-found effect on future applications. Current research oncontrol systems for autonomous vehicles demonstrates thattrajectory generation is hardly a “solved” problem. For ve-hicle viability, it is imperative to be able to generate safepaths in real time.Many path planning techniques for autonomous vehi-cles have been discussed in the literature. Cornell Uni-versity Team for 2005 DARPA Grand Challenge [8] useda path planner based on Bezier curves of degree´ 3 in a sens-ing/action feedback loop to generate smooth paths that areconsistent with vehicle dynamics. Skrjanc [7] proposed anew cooperative collision avoidance method for multiplerobots with constraints and known start and goal veloci-ties based on Bezier curves of degree´ 5. In this method,four control points out of five are placed such that desiredpositions and velocities of the start and the goal point aresatisfied. The fifth point is obtained by minimizing penaltyfunctions. Lizarraga [5] used Bezier curves for generating´" @default.
- W7079449 created "2016-06-24" @default.
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- W7079449 date "2008-01-01" @default.
- W7079449 modified "2023-09-26" @default.
- W7079449 title "B´ ezier Curve for Trajectory Guidance" @default.
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