Path Planning for Autonomous Vehicles
نویسنده
چکیده
Central problems in path planning are obstacle avoidance and path optimisation. The aim of our work was to investigate the efciency of an Evolution Strategy for optimising robot parameters in both respects. We chose a simple model in order to highlight the effect of evolution as an optimisation procedure. In our model the robot has to reach given goals from a given starting position. In our simulations we were able to point out that evolution is suitable for optimisation in robotics research.
منابع مشابه
The Path Planning Component of an Architecture for Autonomous Vehicles
Path planning for an autonomous vehicle can occur at two different times. First, path planning might occur at mission specification time when the vehicle’s initial path is determined and used to specify other mission factors. This task makes use of some model of the environment in planning a path that will avoid obstacles and hazardous areas. A second type of path planning might occur while the...
متن کاملA Generic Path Planning Strategy for Autonomous Vehicles
Path planning is a necessary and fundamental component of any autonomous vehicle. The goal is to obtain a path that allows the vehicle to fullll its mission objectives by ensuring an eecient and safe path. Numerous path planning algorithms exist, although each is speciic to the type of vehicle that the algorithm is used on. This paper presents a path planning algorithm that is generic in nature...
متن کاملPath Planning based on Bézier Curve for Autonomous Ground Vehicles
In this paper we present two path planning algorithms based on Bézier curves for autonomous vehicles with waypoints and corridor constraints. Bézier 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 Bézier curve ...
متن کاملCooperative Path-planning for Autonomous Vehicles Using Dynamic Programming
It is shown how to model a cooperative path planning system for multiple autonomous air vehicles within the framework of a stochastic (dynamic programming) decision process. The proposed approach allows the vehicles to cooperate and find near-optimal search paths over a given environment in the presence of uncertainty and constraints on movement and computational power.
متن کاملPath Planning for Autonomous Underwater Vehicles in Realistic Oceanic Current Fields: Application to Gliders in the Western Mediterranean Sea
Autonomous Underwater Vehicles (AUVs) usually operate in ocean environments characterized by complex spatial variability which can jeopardize their missions. To avoid this, planning safety routes with minimum energy cost is of primary importance. This work revisits the benefits, in terms of travelling time, of path planning in marine environments showing spatial variability. By means of a path ...
متن کاملReal-Time Motion Planning for Agile Autonomous Vehicles
Planning the path of an autonomous, agile vehicle ina dynamic environment is a very complex problem, especially when the vehicle is required to use its full maneuvering capabilities. Recent efforts aimed at using randomized algorithms for planning the path of kinematic and dynamic vehicles have demonstrated considerable potential for implementation on future autonomous platforms. This paper bui...
متن کامل