Bezier curve based path planning for autonomous vehicle in urban environment

被引：100

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

页码：1036 / 1042

页数：7

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