Feasible Path Generation Using Bezier Curves for Car-Like Vehicle

International Research and Innovation Summit 2017

Latip, Nor Badariyah Abdul^1 ; Omar, Rosli^1

Universiti Tun Hussein Onn Malaysia, Faculty of Electrical and Electronic Engineering, Parit Raja, Johor, Batu Pahat

86400, Malaysia^1

关键词: Autonomous Vehicles;    Car-like vehicles;    Collision-free paths;    Computation time;    Kinematic constraints;    Matlab- software;    Minimum turning radius;    Path-planning algorithm;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/226/1/012133/pdf
DOI  :  10.1088/1757-899X/226/1/012133

来源: IOP

【 摘 要 】

When planning a collision-free path for an autonomous vehicle, the main criteria that have to be considered are the shortest distance, lower computation time and completeness, i.e. a path can be found if one exists. Besides that, a feasible path for the autonomous vehicle is also crucial to guarantee that the vehicle can reach the target destination considering its kinematic constraints such as non-holonomic and minimum turning radius. In order to address these constraints, Bezier curves is applied. In this paper, Bezier curves are modeled and simulated using Matlab software and the feasibility of the resulting path is analyzed. Bezier curve is derived from a piece-wise linear pre-planned path. It is found that the Bezier curves has the capability of making the planned path feasible and could be embedded in a path planning algorithm for an autonomous vehicle with kinematic constraints. It is concluded that the length of segments of the pre-planned path have to be greater than a nominal value, derived from the vehicle wheelbase, maximum steering angle and maximum speed to ensure the path for the autonomous car is feasible.