An efficient autonomous vehicle navigation scheme based on LiDAR sensor in vehicular network
Rima Benelmir, Salim Bitam, Abdelhamid Mellouk · 2020
Recently, autonomous vehicles navigation (AVN) attracted many researches trying to improve road traffic without the human intervention. One of the main challenges in AVN is allowing a vehicle to discover its moving trajectory with a reduced computational complexity. To cope with this issue, we propose in this paper a new simulated annealing algorithm to discover an optimal trajectory when the vehicle encounters an obstacle using LiDAR perception. The found trajectory is then sent to a roadside unit (RSU), which communicates this discovery to other nodes in the network for further use. During its navigation, the vehicle perceives the environment by a LiDAR sensor to detect an eventual obstacle and launches an optimal path discovery to reach the final destination in a reduced time. The results obtained showed the effectiveness of our proposal to find an optimal route compared to Dijkstra algorithm.