Bezier curve based path planning for autonomous vehicle in urban environment

被引：99
|
作者：
Han, Long [1 ]
Yashiro, Hironari [1 ]
Nejad, Hossein Tehrani Nik [1 ]
Quoc Huy Do [1 ]
Mita, Seiichi [1 ]
机构：
[1] Toyota Technol Inst, Nagoya, Aichi 4688511, Japan
来源：
2010 IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV) | 2010年
关键词：
D O I：
10.1109/IVS.2010.5548085
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a Bezier curve based path planner which enables the anti-collision behavior of an electronic car. The anti-collision system is a fundamental module in the architecture. The path tracking implementation uses pure pursuit algorithm. The anti-collision system based on laser scanner data consists of estimating the trajectories and behavior of surrounding objects, and a Bezier curve based path planner. Experimental results are presented showing the effectiveness of the overall navigation control system.
引用
收藏
页码：1036 / 1042
页数：7
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