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Path planning for autonomous ground vehicles based on quintic trigonometric Bézier curve

Path planning based on quintic trigonometric Bézier curve

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Abstract

Path planning is one of the essential steps for autonomous ground vehicles or even wheeled mobile robots. This paper proposes a general framework for the path planning using quintic trigonometric Bézier curve with two shape parameters and \(C_{3}\) continuity. We express that when there are obstacles, predefined path can be adjusted by only using shape parameters without altering any obstacle. Additionally, the velocity, lateral acceleration, longitudinal and lateral jerks of the predefined cubic and quintic Bézier, and cubic and quintic trigonometric Bézier paths are compared. Also, a path surface for autonomous ground vehicles can be generated using developable surfaces.

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Authors and Affiliations

  1. Department of Engineering Sciences, Izmir Katip Celebi University, Cigli, Izmir, 35620, Turkey

    Vahide Bulut

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  1. Vahide Bulut
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Correspondence to Vahide Bulut.

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Technical Editor: Adriano Almeida Gonçalves Siqueira.

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Bulut, V. Path planning for autonomous ground vehicles based on quintic trigonometric Bézier curve. J Braz. Soc. Mech. Sci. Eng. 43, 104 (2021). https://doi.org/10.1007/s40430-021-02826-8

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  • DOI: https://doi.org/10.1007/s40430-021-02826-8

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