Circular Arc Based Obstacle Avoiding Blending Trajectory plan

This paper works on the problem of generating a trajectory which is capable to dodge potential obstacles in a blending occasion with a non-holonomic premise. To the problem, this paper offers a solution of a circular blending curve generation with given directions, lanes and obstacle. This technique reforms the two-dimensional information into one-dimensional representation. With this trait, the obstacles could be represented by the constraints generated with the technique. Then, a collision-free corridor could be formed by the constraints. The corridor generating algorithm can provide outcome at a high speed, also cater to one all multiple obstacles situation.