Abstract

In this paper we present two path planning algo- rithms based on Be�zier curves for autonomous vehicles with waypoints and corridor constraints. Be�zier curves have useful properties for the path generation problem. The paper describes how the algorithms apply these properties to generate the refer- ence trajectory for vehicles to satisfy the path constraints. Both algorithms join cubic Be�zier curve segments smoothly to generate the path. Additionally, we discuss the constrained optimization problem that optimizes the resulting path for user-defined cost function. The simulation shows the generation of successful routes for autonomous vehicles using these algorithms as well as control results for a simple kinematic vehicle. Extensions of these algorithms towards navigating through an unstructured environment with limited sensor range are discussed

Description