Local path planning in a complex environment for self-driving car
| Affiliation auteurs | !!!! Error affiliation !!!! |
| Titre | Local path planning in a complex environment for self-driving car |
| Type de publication | Conference Paper |
| Year of Publication | 2014 |
| Auteurs | Lee U, Yoon S, Shim HC, Vasseur P, Demonceaux C |
| Conference Name | 2014 IEEE 4TH ANNUAL INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL, AND INTELLIGENT SYSTEMS (CYBER) |
| Publisher | IEEE |
| Conference Location | 345 E 47TH ST, NEW YORK, NY 10017 USA |
| ISBN Number | 978-1-4799-3669-4 |
| Mots-clés | Autonomous Vehicle, Obstacle avoidance, path planning, Self-Driving, Voronoi Cell |
| Résumé | 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. |