Integrated path planning and dynamic steering control for autonomous vehicles

  title={Integrated path planning and dynamic steering control for autonomous vehicles},
  author={Bruce H. Krogh and Charles E. Thorpe},
A method is presented for combining two previously proposed algorithms for path-planning and dynamic steering control into a computationally feasible scheme for real-time feedback control of autonomous vehicles in uncertain environments. In the proposed approach to vehicle guidance and control, Path Relaxation is used to compute critical points along a globally desirable path using a priori information and sensor data'. Generalized potential fields are then used for local feedback control to… CONTINUE READING
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