Local Path Planning for an Autonomous Vehicle in the Presence of Moving Obstacles
This paper focuses on the problem of finding a clear trajectory and a collision-free path for an autonomous vehicle with the presence of many moving obstacles in the environment. We approach this issue by using an analytical method where we consider the kinematic model of the car like robot to develop the feasible trajectories with their corresponding steering control and the collision avoidance conditions. The collision-free path generated can be updated in real time once the environment is changed and detected by the car like robot. Matlab simulations were used to provide the results for the analytical method used were obstacles were randomly generated. Also, an intersection crossing scenario was simulated.
Keywords - Autonomous Vehicle, Local Path Planning, Trajectory Planning, Collision Avoidance.