Reference Path Generation and Obstacle Avoidance for Autonomous Vehicles Based on Waypoints, Dubins Curves and Virtual Force Field Method

نویسنده

  • Gokhan Bayar
چکیده

In this study, reference path generation based on waypoints, Dubins curves and obstacle avoidance are focused. The motion of a wheeled robot vehicle is modeled by following the principles of point mass approach. While motion planning is performed, the importance of obtaining the shortest distance between two target points is illustrated. Dubins curves and waypoints are used to construct an optimum path generation strategy. Path planning algorithm developed is combined with an obstacle avoidance approach, known as the virtual force field method. The whole system was tested for different scenarios. In the first scenario, the path generation was tested for the case where obstacles, start and finish points of the reference path, and initial and final robot vehicle orientations were defined. In this case, waypoints were not specified. In the second scenario, the performance of the algorithm was tested for generating a complete reference path. Waypoints were specified and the shortest path between the start and end points of the desired path was generated. Successful results were obtained and presented in this paper.

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Obstacle avoidance for an autonomous vehicle using force field method

This paper presents a force field concept for guiding a vehicle at a high speed maneuver. This method is  similar to potential field method. In this paper, motion constrains like vehicles velocity, distance to obstacle and tire conditions and such lane change conditions as zero slop condition and zero lateral acceleration are discussed. After that, possible equations as vehicles path ar...

متن کامل

Continuous Curvature Path Generation Based on Bézier Curves for Autonomous 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. This paper describes how the algorithms apply these properties to generate the reference trajectory for vehicles to satisfy the path constraints. Both algorithms join a set of low-degre...

متن کامل

Smooth Path Generation Based on Bézier Curves for Autonomous 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. This paper describes how the algorithms apply these properties to generate the reference trajectory for vehicles to satisfy the path constraints. Both algorithms join a set of low-degre...

متن کامل

Toward a Multi-agent System for Marine Observation

Developing a robust obstacle avoidance module is a foundamental step towards fully autonomous unmanned surface vehicles. Until now, most marine vehicles traverse following waypoints paths, usually GPS-based, totally unconcerned about possible collisions. In this paper, a combined system integrating autonomous flying and surface vehicles is suggested as solution to the path planning problem.

متن کامل

Bézier Curve for Trajectory Guidance

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 کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

عنوان ژورنال:

دوره   شماره 

صفحات  -

تاریخ انتشار 2017