Trajectory planning and tracking for autonomous vehicles

Çiçek, Haluk Levent
Finding appropriate paths is an essential issue for the development of autonomous vehicles and robots. Hereby, it has to be considered that autonomous vehicles cannot follow sharp corners, as they cannot turn on a single point. Therefore, it is important to compute smooth paths that have additional desirable properties such as minimum length and sufficient distance from obstacles. Furthermore, practical applications require the computation of such paths in real time. This thesis develops a general method for path planning and tracking of autonomous vehicles. In line with the stated requirements, the proposed algorithm ensures smooth curves and avoids sharp corners on the planned path. The proposed algorithm is based on different existing path planning algorithm which named as the Voronoi Boundary Visibilty and Steiner Points Repeatedly (VV-ST-R) that result in straight-line paths with corners. The undesired sharp corners resulting from these algorithm are replaced by smooth curves using Bezier curves. In this way, the traceability of the road is increased. As performance criteria, the path's calculation time, the shortest path distance to the obstacle, and the total length of the path are determined. In various computational experiments, the proposed algorithm and the previous algorithm are compared. In addition, proposed method for choosing Bezier curve control points are evaluated. It is found that the proposed algorithm results in short smooth paths with a sufficient obstacle distance and a small computation time. Finally, the traceability of the proposed paths is confirmed by driving simulations with car-like robots using the Pure Pursuit algorithm for path tracking. It is further expected that the proposed method can be used for both road vehicles and mobile robots.


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Citation Formats
H. L. Çiçek, “Trajectory planning and tracking for autonomous vehicles,” M.S. - Master of Science, Middle East Technical University, 2022.