Path Planning Based on Bézier Curve for Autonomous Ground Vehicles

@article{Choi2008PathPB,
  title={Path Planning Based on B{\'e}zier Curve for Autonomous Ground Vehicles},
  author={Ji-wung Choi and Renwick E. Curry and G. Elkaim},
  journal={Advances in Electrical and Electronics Engineering - IAENG Special Edition of the World Congress on Engineering and Computer Science 2008},
  year={2008},
  pages={158-166}
}
In this paper we present two path planning algorithms based on Bezier curves for autonomous vehicles with way points and corridor constraints. Bezier curves have useful properties for the path generation problem. The paper describes how the algorithms apply these properties to generate the reference trajectory for vehicles to satisfy the path constraints. Both algorithms join cubic Bezier curve segments smoothly to generate the path. Additionally, we discuss the constrained optimization problem… CONTINUE READING
Highly Cited
This paper has 106 citations. REVIEW CITATIONS

Citations

Publications citing this paper.
Showing 1-10 of 65 extracted citations

Approach trajectory generation using Bezier curves

2015 IEEE International Conference on Aerospace Electronics and Remote Sensing Technology (ICARES) • 2015
View 3 Excerpts
Highly Influenced

Mobile Robot Trajectory Generation from Ordered Point-Set Using Time-Optimal Bezier Segments

2018 26th Mediterranean Conference on Control and Automation (MED) • 2018
View 1 Excerpt

Real-Time Trail-Braking Maneuver Generation for Off-Road Vehicle Racing

2018 Annual American Control Conference (ACC) • 2018
View 1 Excerpt

106 Citations

01020'10'12'14'16'18
Citations per Year
Semantic Scholar estimates that this publication has 106 citations based on the available data.

See our FAQ for additional information.

References

Publications referenced by this paper.
Showing 1-10 of 11 references

Spatially deconflicted path generation for multiple UAVs in a bounded airspace

2008 IEEE/ION Position, Location and Navigation Symposium • 2008
View 1 Excerpt

Analysis of a Spline Based , Obstacle Avoiding Path Planning Algorithm

G. Elkaim
IEEE Vehicle Technology Conference , IEEE VTC • 2007

Analysis of a Spline Based, Obstacle Avoiding Path Planning Algorithm

2007 IEEE 65th Vehicular Technology Conference - VTC2007-Spring • 2007
View 1 Excerpt

Cooperative Collision Avoidance between Multiple Robots Based on Bézier Curves

2007 29th International Conference on Information Technology Interfaces • 2007
View 2 Excerpts

Klancar , Cooperative Collision Avoidance between Multiple Robots Based on Bézier Curves

G.
Information Technology Interfaces • 2007

Elkaim , Spatially Deconflicted Path Generation for Multiple UAVs in a Bounded Airspace

W. T.
2006

Sederberg , Computer aided geometric design

W. T.
CAGD Course Notes • 2006

Similar Papers

Loading similar papers…