Bezier Curve-Based Path Planning for Robust Waypoint Navigation of Unmanned Ground Vehicle
- Bezier Curve-Based Path Planning for Robust Waypoint Navigation of Unmanned Ground Vehicle
- 이상훈; 전창묵; 권태범; 강성철
- unmanned ground vehicle; outdoor navigation; bezier curve; motion planning
- Issue Date
- 제어ㆍ로봇ㆍ시스템학회 논문지 (Journal of Institute of Control,Robotics and Systems)
- VOL 17, NO 5, 429-435
- 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.
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