Local Path Planning Method for Autonomous Driving in Structured Road

摘要：

　　This paper presents a local path planning method for high-speed autonomous vehicles on structured road.A set of candidate trajectories are generated based on three times hermite curvature polynomial after considering the actual dynamic characteristics of unmanned ground vehicle.To select the most appropriate trajectory between candidate paths, by using the VFH method to get the right direction, by considering the path safety cost, path smoothness, and path consistency, combined with high precision sensor, the vehicle can select the right direction and track the right trajectory.Simulation results show that the proposed combination of path planning algorithm gives satisfactory online obstacle avoidance performance.

关键词： path planning Hermite VFH trajectory generation

作者: WANG Zhuping LI Hui SHI Xingxin

作者单位: School of Electronics and Information, Tongji University, Shanghai, 201804, China

会议类型: 国内会议

会议名称: 2013年中国信息通信研究新进展研讨会暨第五届数字媒体技术专业建设研讨会

会议地点: 石家庄

会议语种:英文

页码: 148-152

在线出版日期: 2013-11-01（万方平台首次上网日期，不代表论文的发表时间）