A NEW PATH PLANNING ALGORITHM FOR HIGHWAY ENVIRONMENTS USING ADAPTIVE POLAR SPLINES

摘要

Path planning algorithms are an important prerequisite to future driver assistance systems. In this paper, an approach for path planning on highways is presented. The method uses adaptive polar splines in combination with a dynamic graph search algorithm in order to construct curvature-continuous, collision-free paths that can be used without further modifications by vehicles with differential constraints. Simulations show that the method is able to determine reasonable paths on highway scenarios in a short amount of time. Furthermore, the approach allows online reactions on environmental changes, e. g. suddenly appearing obstacles.