NDLI: Online Local Path Planning on the Campus Environment for Autonomous Driving Considering Road Constraints and Multiple Obstacles

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Online Local Path Planning on the Campus Environment for Autonomous Driving Considering Road Constraints and Multiple Obstacles

Content Provider	MDPI
Author	Park, Changhyeon Kee, Seok-Cheol
Copyright Year	2021
Description	In this paper, an urban-based path planning algorithm that considered multiple obstacles and road constraints in a university campus environment with an autonomous micro electric vehicle (micro-EV) is studied. Typical path planning algorithms, such as A, particle swarm optimization (PSO), and rapidly exploring random tree (RRT), take a single arrival point, resulting in a lane departure situation on the high curved roads. Further, these could not consider urban-constraints to set collision-free obstacles. These problems cause dangerous obstacle collisions. Additionally, for drive stability, real-time operation should be guaranteed. Therefore, an urban-based online path planning algorithm, which is robust in terms of a curved-path with multiple obstacles, is proposed. The algorithm is constructed using two methods, A and an artificial potential field (APF). To validate and evaluate the performance in a campus environment, autonomous driving systems, such as vehicle localization, object recognition, vehicle control, are implemented in the micro-EV. Moreover, to confirm the algorithm stability in the complex campus environment, hazard scenarios that complex obstacles can cause are constructed. These are implemented in the form of a delivery service using an autonomous driving simulator, which mimics the Chungbuk National University (CBNU) campus.
Starting Page	3909
e-ISSN	20763417
DOI	10.3390/app11093909
Journal	Applied Sciences
Issue Number	9
Volume Number	11
Language	English
Publisher	MDPI
Publisher Date	2021-04-26
Access Restriction	Open
Subject Keyword	Applied Sciences Transportation Science and Technology Path Planning Artificial Potential Field Steering Kinematics Autonomous Vehicle Morai Simulator
Content Type	Text
Resource Type	Article

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