Bezier Curve-Based Path Planning for Robust Waypoint Navigation of Unmanned Ground Vehicle

Title
Bezier Curve-Based Path Planning for Robust Waypoint Navigation of Unmanned Ground Vehicle
Authors
이상훈전창묵권태범강성철
Keywords
unmanned ground vehicle; outdoor navigation; bezier curve; motion planning
Issue Date
2011-05
Publisher
제어ㆍ로봇ㆍ시스템학회 논문지 (Journal of Institute of Control,Robotics and Systems)
Citation
VOL 17, NO 5, 429-435
Abstract
This paper presents a sensor fusion-based estimation of heading and a Bezier curve-based motion planning for unmanned ground vehicle. For the vehicle to drive itself autonomously and safely, it should estimate its pose with sufficient accuracy in reasonable processing time. The vehicle should also have a path planning algorithm that enables to adapt to various situations on the road, especially at intersections. First, we address a sensor fusion-based estimation of the heading of the vehicle. Based on extended Kalman filter, the algorithm estimates the heading using the GPS, IMU, and wheel encoders considering the reliability of each sensor measurement. Then, we propose a Bezier curve-based path planner that creates several number of path candidates which are described as Bezier curves with adaptive control points, and selects the best path among them that has the maximum probability of passing through waypoints or arriving at target points. Experiments under various outdoor conditions including at intersections, verify the reliability of our algorithm.
URI
http://pubs.kist.re.kr/handle/201004/41252
ISSN
1976-5622
Appears in Collections:
KIST Publication > Article
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