6533b820fe1ef96bd12799e1

RESEARCH PRODUCT

Local path planning in a complex environment for self-driving car

Unghui LeePascal VasseurSangyol YoonHyunchul ShimCédric Demonceaux

subject

Engineeringbusiness.industryPath (graph theory)Obstacle avoidanceCollision detectionControl engineeringSteering wheelMotion planningCollisionVoronoi diagrambusinessAny-angle path planning

description

This paper introduces an local path planning algorithm for the self-driving car in a complex environment. The proposed algorithm is composed of three parts: the novel path representation, the collision detection and the path modification using a voronoi cell. The novel path representation provides convenience for checking the collision and modifying the path and continuous control input for steering wheel rather than way point navigation. The proposed algorithm were applied to the self-driving car, EureCar(KAIST) and its applicability and feasibility of real time use were validated.

yearjournalcountryeditionlanguage
2014-06-01The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent
https://doi.org/10.1109/cyber.2014.6917505