Reactive path planning in intersection for autonomous vehicle
Julien Moreau, Pierre Melchior, Stéphane Victor, Louis Cassany, Mathieu Moze, François Aioun, Franck Guillemard · IFAC-PapersOnLine · 2019
Path planning is an essential stage for mobile robot control. It is more newsworthy than ever in the automotive context and especially for autonomous vehicle. Also, path planning methods need to be reactive and adaptive regarding life situations, traffic and obstacle crossing. In this paper, a Bézier curve optimization method is proposed to cope with these constraints and autonomous vehicles are considered equipped with all necessary sensors for obstacle detection. In this way, the obstacle avoidance problem is transformed into an optimization problem under equality constraints. This optimization problem is solved by combining Lagrangian and Gradient-based methods.