文章基本信息

标题：Reactive path planning in intersection for autonomous vehicle
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作者：Julien Moreau ; Pierre Melchior ; Stéphane Victor 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2019
卷号：52
期号：5
页码：109-114
DOI：10.1016/j.ifacol.2019.09.018
语种：English
出版社：Elsevier
摘要：AbstractPath planning is an essential stage for mobile robot control. It is more newsworthy than ever in the automotive context and especially for autonomous vehicle. Also, path planning methods need to be reactive and adaptive regarding life situations, traffic and obstacle crossing. In this paper, a Bézier curve optimization method is proposed to cope with these constraints and autonomous vehicles are considered equipped with all necessary sensors for obstacle detection. In this way, the obstacle avoidance problem is transformed into an optimization problem under equality constraints. This optimization problem is solved by combining Lagrangian and Gradient-based methods.
关键词：KeywordsPath planningautomotiveautonomous vehicleBézier curvesoptimizationLagrangianGradient-based methods