Real-time path planning algorithm for autonomous vehicles in unknown environments Online publication date: Tue, 24-Jul-2018
by Jiefei Wang; Matthew A. Garratt; Sreenatha G. Anavatti
International Journal of Mechatronics and Automation (IJMA), Vol. 6, No. 1, 2017
Abstract: In this paper, a method of dynamic path planning algorithm for autonomous vehicles in cluttered environments is presented. The proposed method is based on the D* Lite algorithm with a smoothing method and local optimisation to enhance its performance in cluttered environments. The Lowess smoothing method has useful properties for the path planning problem especially in complex environments which involve lots of corners or direction changes required to avoid dynamic obstacles. Cubic hermite spline interpolation is used to describe curvature continuous trajectories for autonomous vehicles. Knowing the start and goal position, a continuous smooth trajectory can be decided. Results of proposed method are shown in simulations and experiments. Trajectories are demonstrated in various environments with and without additional obstacles. Quantitative results are shown and analysed to validate the proposed method.
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Mechatronics and Automation (IJMA):
Login with your Inderscience username and password:
Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.
If you still need assistance, please email subs@inderscience.com
Our Blog 
Follow us on Twitter 
Visit us on Facebook