Path planning for autonomous ground vehicles based on quintic trigonometric Bézier curve

2021 ◽  
Vol 43 (2) ◽  
Author(s):  
Vahide Bulut
Keyword(s):  
Path Planning ◽  
Bézier Curve ◽  
Bezier Curve ◽  
Ground Vehicles ◽  
Autonomous Ground Vehicles

scholarly journals Automatic Lane-Changing Decision Based on Single-Step Dynamic Game with Incomplete Information and Collision-Free Path Planning

Actuators ◽  
2021 ◽  
Vol 10 (8) ◽  
pp. 173
Author(s):  
Hongbo Wang ◽  
Shihan Xu ◽  
Longze Deng
Keyword(s):  
Path Planning ◽  
Dynamic Game ◽  
Single Step ◽  
Bézier Curve ◽  
Vehicle Safety ◽  
Bezier Curve ◽  
Lane Change ◽  
Hardware In The Loop ◽  
Power Performance ◽  
Lane Changing

Traffic accidents are often caused by improper lane changes. Although the safety of lane-changing has attracted extensive attention in the vehicle and traffic fields, there are few studies considering the lateral comfort of vehicle users in lane-changing decision-making. Lane-changing decision-making by single-step dynamic game with incomplete information and path planning based on Bézier curve are proposed in this paper to coordinate vehicle lane-changing performance from safety payoff, velocity payoff, and comfort payoff. First, the lane-changing safety distance which is improved by collecting lane-changing data through simulated driving, and lane-changing time obtained by Bézier curve path planning are introduced into the game payoff, so that the selection of the lane-changing start time considers the vehicle safety, power performance and passenger comfort of the lane-changing process. Second, the lane-changing path without collision to the forward vehicle is obtained through the constrained Bézier curve, and the Bézier curve is further constrained to obtain a smoother lane-changing path. The path tracking sliding mode controller of front wheel angle compensation by radical basis function neural network is designed. Finally, the model in the loop simulation and the hardware in the loop experiment are carried out to verify the advantages of the proposed method. The results of three lane-changing conditions designed in the hardware in the loop experiment show that the vehicle safety, power performance, and passenger comfort of the vehicle controlled by the proposed method are better than that of human drivers in discretionary lane change and mandatory lane change scenarios.

Reliability-Based Mission Planning of Off-Road Autonomous Ground Vehicles Using an Outcrossing Approach

2021 ◽  
Author(s):  
Chen Jiang ◽  
Yixuan Liu ◽  
Zhen Hu ◽  
Zissimos P. Mourelatos ◽  
David Gorsich ◽  
...  
Keyword(s):  
Path Planning ◽  
Optimal Path ◽  
Gaussian Random Field ◽  
Mobility Model ◽  
Outcrossing Rate ◽  
Mission Planning ◽  
Ground Vehicles ◽  
Practical Applications ◽  
Autonomous Ground Vehicles ◽  
Uncertainty Sources

Abstract Reliability-based mission planning aims to identify an optimal path for off-road autonomous ground vehicles (AGVs) under uncertain terrain environment, while satisfying specific mission mobility reliability (MMR) constraints. The evaluation of MMR during path planning poses computational challenges for practical applications. This paper presents an efficient reliability-based mission planning using an outcrossing approach that has the same computational complexity as deterministic mission planning. A Gaussian random field is employed to represent the spatially dependent uncertainty sources in the terrain environment. The latter are then used in conjunction with a vehicle mobility model to generate a stochastic mobility map. Based on the stochastic mobility map, outcrossing rate maps are generated using the outcrossing concept which is widely used in time-dependent reliability. Integration of the outcrossing rate map with a rapidly-exploring random tree (RRT*) algorithm, allows for efficient path planning of AGVs subject to MMR constraints. A reliable RRT* algorithm using the outcrossing approach (RRT*-OC) is developed to implement the proposed efficient reliability-based mission planning. Results of a case study verify the accuracy and efficiency of the proposed algorithm.

scholarly journals Collision-Free Path Planning for Intelligent Vehicles Based on Bézier Curve

IEEE Access ◽  
2019 ◽  
Vol 7 ◽  
pp. 123334-123340 ◽  
Author(s):  
Hongluo Li ◽  
Yutao Luo ◽  
Jie Wu
Keyword(s):  
Path Planning ◽  
Free Path ◽  
Intelligent Vehicles ◽  
Bézier Curve ◽  
Bezier Curve
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