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Erschienen in:
2010 | OriginalPaper | Buchkapitel
3. Piecewise Bezier Curves Path Planning with Continuous Curvature Constraint for Autonomous Driving
verfasst von : Ji-Wung Choi, Renwick Curry, Gabriel Elkaim
Erschienen in: Machine Learning and Systems Engineering
Verlag: Springer Netherlands
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Abstract
We present two practical path planning algorithms based on Bezier curves for autonomous vehicles operating under waypoints and corridor constraints. Bezier curves have useful properties for the trajectory generation problem. This paper describes how the algorithms apply these properties to generate the reference trajectory for vehicles to satisfy the path constraints. Both algorithms generate the piecewise-Bezier-curves path such that the curves segments are joined smoothly with C
2 constraint which leads to continuous curvature along the path. The degree of the curves are minimized to prevent them from being numerically unstable. Additionally, we discuss the constrained optimization problem that optimizes the resulting path for a user-defined cost function.