Journal
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
Volume 13, Issue 4, Pages 1599-1616Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TITS.2012.2198214
Keywords
Autonomous vehicle; nonholonomic constraints; obstacle avoidance; real-time path planning; static obstacles
Categories
Funding
- Ministry of Education, Science and Technology through the BK21 Program [201000000000173]
- Ministry of Knowledge Economy (MKE)
- Korea Institute for Advancement of Technology through the Workforce Development Program in Strategic Technology
- National Research Foundation of Korea
- Korean government through the Ministry of Education Science and Technology [2011-0017495]
- Industrial Strategy Technology Development Program of MKE [10039673]
- Energy Resource RD Program [2006ETR11P091C]
- Ministry of Knowledge Economy (MKE), Republic of Korea [2008-B01-010] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
- National Research Foundation of Korea [2011-0017495] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
Ask authors/readers for more resources
In this paper, a real-time path-planning algorithm that provides an optimal path for off-road autonomous driving with static obstacles avoidance is presented. The proposed planning algorithm computes a path based on a set of predefined waypoints. The predefined waypoints provide the base frame of a curvilinear coordinate system to generate path candidates for autonomous vehicle path planning. Each candidate is converted to a Cartesian coordinate system and evaluated using obstacle data. To select the optimal path, the priority of each path is determined by considering the path safety cost, path smoothness, and path consistency. The proposed path-planning algorithms were applied to the autonomous vehicle A1, which won the 2010 Autonomous Vehicle Competition organized by the Hyundai-Kia Automotive Group in Korea.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available