Hybrid path planning for non-holonomic autonomous vehicles: An experimental evaluation
conference paper
Path planning of an autonomous vehicle as a non-holonomic system is an essential part for many automated driving applications. Parking a car into a parking lot and maneuvering it through a narrow corridor would be a common driving scenarios in an urban environment. In this study a hybrid approach for dynamic path planning is presented which deals with the limited degrees of freedom of a non-holonomic system, as well as the real-time constraints and limited computational power. Furthermore, it takes into account ride comfort of the passenger by generating smooth path. The proposed method has been evaluated in simulation environment and is implemented and tested on a Toyota Prius test vehicle with an active steering system.
TNO Identifier
781364
ISBN
9781509064847
Publisher
Institute of Electrical and Electronics Engineers Inc.
Article nr.
8005682
Source title
5th IEEE International Conference on Models and Technologies for Intelligent Transportation Systems, MT-ITS 2017. 26 June 2017 through 28 June 2017
Pages
25-30
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