A Real-time Path Planner based on Improved Tentacle Algorithm for Autonomous Vehicles

Zhuoren Li, Bo Leng*, Chagen Luo, Liang Shao, Ruoling Yang, Chengen Tu, Arno Eichberger, Lu Xiong

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference paperpeer-review

Abstract

In this paper, a real-time local path planner for obstacle avoidance of autonomous vehicles is proposed. Based on the tentacle algorithm, a novel tentacle curve that can ensure the continuity of the derivative of the path curvature is used to generate an alternate path set. After collision detection, we use the analytic hierarchy process (AHP) to calculate the weights to choose the best path. Finally, to verify the efficiency of the proposed planner, an obstacle avoidance case is designed in the simulation. The simulation results show that the proposed planner can obviously avoid the obstacle well and has better smoothness than the tentacle approach that uses the clothoid curve. The total time of local planning within a single period is less than 20 ms, which still has great real-time performance.

Original languageEnglish
Title of host publication2022 3rd International Conference on Big Data, Artificial Intelligence and Internet of Things Engineering, ICBAIE 2022
PublisherInstitute of Electrical and Electronics Engineers
Pages629-634
Number of pages6
ISBN (Electronic)9781665451604
DOIs
Publication statusPublished - 2022
Event3rd International Conference on Big Data, Artificial Intelligence and Internet of Things Engineering: ICBAIE 2022 - Virtual, Online, China
Duration: 15 Jul 202217 Jul 2022

Conference

Conference3rd International Conference on Big Data, Artificial Intelligence and Internet of Things Engineering
Abbreviated titleICBAIE 2022
Country/TerritoryChina
CityVirtual, Online
Period15/07/2217/07/22

Keywords

  • autonomous vehicle
  • improved tentacle algorithm
  • obstacle avoidance
  • path planning

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Networks and Communications
  • Information Systems
  • Signal Processing
  • Information Systems and Management

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