Previous methods for planning clothoid based continuous curvature paths aim at minimizing path length. However, minimal length paths are not always smooth, natural, and drivable. A method of generating clothoid-based trajectories is discussed using constructive polylines. The goal of the motion planner is to create a path for a large car-like vehicle in human driving environments. Thus, the trajectories generated by the motion planner must be smooth, drivable, and natural such that the vehicle can follow the planned path on human roadways. Several examples are shown of trajectories developed for a DARPA Urban Challenge vehicle and a method of testing the motion planner and the vehicle controller is described.
College and Department
Ira A. Fulton College of Engineering and Technology; Electrical and Computer Engineering
BYU ScholarsArchive Citation
Henrie, Joshua H., "Planning Continuous Curvature Paths Using Constructive Polylines" (2008). Theses and Dissertations. 1514.
motion planning, clothoid, DARPA Grand Challenge, trajectory planning