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Path Planning Based on Bézier Curve for Autonomous Ground Vehicles

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3 Author(s)
Ji-wung Choi ; Comput. Eng. Dept., Univ. of California Santa Cruz, Santa Cruz, CA, USA ; Curry, R. ; Elkaim, G.

In this paper we present two path planning algorithms based on Bezier curves for autonomous vehicles with way points and corridor constraints. Bezier curves have useful properties for the path generation problem. The paper describes how the algorithms apply these properties to generate the reference trajectory for vehicles to satisfy the path constraints. Both algorithms join cubic Bezier curve segments smoothly to generate the path. Additionally, we discuss the constrained optimization problem that optimizes the resulting path for a user-defined cost function. The simulation shows the generation of successful routes for autonomous vehicles using these algorithms as well as control results for a simple kinematic vehicle. Extensions of these algorithms towards navigating through an unstructured environment with limited sensor range are discussed.

Published in:

World Congress on Engineering and Computer Science 2008, WCECS '08. Advances in Electrical and Electronics Engineering - IAENG Special Edition of the

Date of Conference:

22-24 Oct. 2008