Smooth Trajectory Planning for a Car in a Structured World Smooth Trajectory Planning for a Car in a Structured World

| This paper aims at studying the trajectory planning for a car| i.e. a non holonomic vehicle whose turning radius is lower bounded|in a static and structured world. As for the structure of the world, we assume the existence of natural lanes within which the vehicle is able to move. The contribution of this paper is a smooth trajectory planner which, when given the polygonal line S representing the spine of a lane generates a trajectory C avoiding the obstacles of the world and which is smooth|i.e. without backing up maneuvers|and executable by the vehicle according to its own kinematic constraints. Besides C is topologically equivalent to S|i.e. C must remain in the lane deened by S. C is made up of straight segments and circular arcs. Abstract This paper aims at studying the trajectory planning for a car|i.e. a non holonomic vehicle whose turning radius is lower bounded|in a static and structured world. As for the structure of the world, we assume the existence of natural lanes within which the vehicle is able to move. The contribution of this paper is a smooth trajectory planner which, when given the polygonal line S representing the spine of a lane generates a trajectory C avoiding the obstacles of the world and which is smooth|i.e. without backing up maneuvers|and executable by the vehicle according to its own kinematic constraints. Besides C is topologically equivalent to S|i.e. C must remain in the lane deened by S. C is made up of straight segments and circular arcs.