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http://dx.doi.org/10.5302/J.ICROS.2014.13.1961

Path Planning for Autonomous Navigation of a Driverless Ground Vehicle Based on Waypoints  

Song, Gwang-Yul (Department of Industrial Engineering, Chonnam National University)
Lee, Joon-Woong (Department of Industrial Engineering, Chonnam National University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.20, no.2, 2014 , pp. 211-217 More about this Journal
Abstract
This paper addresses an algorithm of path planning for autonomous driving of a ground vehicle in waypoint navigation. The proposed algorithm is flexible in utilization under a large GPS positioning error and generates collision-free multiple paths while pursuing minimum traveling time. An optimal path reduces inefficient steering by minimizing lateral changes in generated waypoints along a path. Simulation results compare the proposed algorithm with the A* algorithm by manipulation of the steering wheel and traveling time, and show that the proposed algorithm realizes real-time obstacle avoidance by quick processing of path generation, and minimum time traveling by producing paths with small lateral changes while overcoming the very irregular positioning error from the GPS.
Keywords
path planning; autonomous vehicle; obstacle avoidance; collision-free waypoint navigation; GPS positioning error;
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Times Cited By KSCI : 2  (Citation Analysis)
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