Efficient micro-mobility path planning without using high-definition maps

Efficient path planning is crucial for the safe autonomous operation of micro-mobility vehicles in unknown environments. When planning paths for micro-mobility, factors, such as the changes in the user's intended destination and user comfort, must be considered. Moreover, for driving in unknown areas, the path planner should not rely on predetermined detailed information like High-Definition maps (HD maps). In this paper, we propose an innovative path planning algorithm for automated driving that solely uses basic perception data from RGB camera, IMU and GPS, thereby eliminating the dependency on HD maps. We initially convert perception data into an occupancy grid map. Subsequently, a global path planner, based on a modified A(*) algorithm, computes an efficient trajectory, particularly adept to navigation in unknown environments and to scenarios where goal position moves. Additionally, we developed a local planner that optimize multi-clothoid curves using designed constraints to predict the best trajectory. Our experiments, conducted in both simulated and real-world environments, validate the effectiveness of our approach for micro-mobility path planning using only perception data.