Path planning for autonomous car to avoid moving obstacles by steering using tangent-arc-tangent-arc-tangent model

We propose a path planning method to avoid moving obstacles only by steering. The method uses the tangent-arc-tangent-arc-tangent model to plan a path that satisfies two requirements: 1) the own vehicle modeled as a rigid body with a shape and direction doesn't collide with moving obstacles on the path (i.e., the path is collisionless); 2) the path takes into account the vehicle dynamics (this is accomplished through a feedback control). The second requirement is necessary even if the planned path is collisionless because skids while the vehicle is actually running may lead to collisions with obstacles. We verified the effectiveness of the proposed method by using a vehicle dynamics simulator.