Real-time path planning using a simulator-in-the-loop
Thomas Hellström, Ola Ringdahl · International Journal of Vehicle Autonomous Systems · 2009
This paper describes the development of a real-time path planner for off-road vehicles using a simulator. The general idea with the presented system is to extend a standard path-tracking algorithm with a simulator that, in real-time, tries to predict collisions in a window forward in time. If a collision is predicted, the vehicle is stopped and a path-search phase is initiated. Variants of the original path are generated and simulated until a feasible path is found. The real vehicle then continues, now tracking the replanned path.