Collision Free Path Planning
Collision Free Path Planning
- Neue Suche nach: Güvenç, Levent
- Neue Suche nach: Aksun‐Güvenç, Bilin
- Neue Suche nach: Zhu, Sheng
- Neue Suche nach: Gelbal, Şükrü Yaren
- Neue Suche nach: Güvenç, Levent
- Neue Suche nach: Aksun‐Güvenç, Bilin
- Neue Suche nach: Zhu, Sheng
- Neue Suche nach: Gelbal, Şükrü Yaren
Path planning is a challenging task for autonomous driving in a dynamically changing environment. The planned path should be collision‐free with surrounding obstacles in the environment, while also smooth enough for the benefits of smooth path following and passenger comfort. This chapter begins with a detailed review of the literature on collision‐free path planning methods available in the literature. It explores the different approaches ranging from the elastic band method, the quintic spline with minimum curvature variation method, to the model‐based trajectory planning method. The chapter demonstrates the performance of model‐based trajectory planning method on a low friction road, combined with the road friction coefficient estimation module, and evaluates different complex driving scenarios with multiple objects. It ends with a discussion and comparison of the different methods introduced, followed by conclusions.
Dokumentinformationen
Collision Free Path Planning
2021-12-21
52 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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