Vinayak, Akhil and Muhammad Aizzat, Zakaria and Baarath, K. and Peeie, Mohamad Heerwan and Muhammad Izhar, Ishak (2023) A Novel Triangular-Based Estimation Technique for Bezier Curve Control Points Generation on Autonomous Vehicle Path Planning at the Roundabout Intersection. Journal of Intelligent and Robotic Systems: Theory and Applications, 109 (4). pp. 1-18. ISSN 1573-0409. (Published)
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Abstract
Path planning plays a major role in autonomous vehicle navigation. Among different kinds of intersections, roundabouts are far more difficult to plot a course than other intersections due to their special design. Different curve fitting methods such as circles, clothoid curves, Bezier curves are utilized for path planning inside a roundabout. Among those Bezier curves are widely used as they can generate a possible number of paths. However, the major drawback when adopting a Bezier curve is locating its control points. Control points need to be placed correctly for the path to generate. Roundabouts have varying shapes and sizes, there is no one-size-fits-all strategy for locating the control points in a roundabout. Moreover, the circulating path of a roundabout is generally formed based on the radius of the circular path, but this method cannot be applied in all roundabouts since the roundabout can have variable shapes depending on the available space. Therefore, this paper introduces a new method called the triangular-based point selection approach for locating the control points for a Bezier curve traversing a path. The triangular-based point selection approach is used to find points on the road to calculate the control points of a Bezier curve passing through these points. The circular path is likewise created using Bezier curve allowing the path to follow the contour of the roundabout. The proposed method is demonstrated in an oval-shaped roundabout and tested using a vehicle model also the proposed path generation algorithm is compared with other path planning methods.
| Item Type: | Article |
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| Additional Information: | Indexed by Scopus |
| Uncontrolled Keywords: | Autonomous vehicles; Bezier curve; Control points; Path planning; Roundabouts |
| Subjects: | T Technology > TL Motor vehicles. Aeronautics. Astronautics T Technology > TS Manufactures |
| Faculty/Division: | Institute of Postgraduate Studies Centre of Excellence: Automotive Engineering Centre Centre of Excellence: Automotive Engineering Centre Faculty of Manufacturing and Mechatronic Engineering Technology |
| Depositing User: | Miss Amelia Binti Hasan |
| Date Deposited: | 29 Feb 2024 06:59 |
| Last Modified: | 29 Feb 2024 06:59 |
| URI: | http://umpir.ump.edu.my/id/eprint/40549 |
| Download Statistic: | View Download Statistics |
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