Path Planning in Unstructured Urban Environments for Self-driving Cars

Anderson Mozart, Gabriel Moraes, Rânik Guidolini, Vinicius Cardoso, Thiago Oliveira-Santos, Alberto F. De Souza, Claudine Badue

2021

Abstract

We present a path planner for unstructured urban environments (PPUE) for self-driving cars. PPUE receives initial and goal poses as input, as well as maps of the environment. It employs a hybrid A* algorithm with two heuristics for generating paths, which are smoothed using Conjugate Gradient optimization. Different from previous works, PPUE uses: (i) an obstacle distance grid-map, instead of an occupancy grid-map, for representing the environment; and (ii) an accurate but simple collision model of the car. We have examined PPUE’s performance experimentally in simulated and real world scenarios. Our results show that PPUE computes smooth and safe paths, which follow the kinematic constraints of the vehicle, fast enough for suitable real world operation.

Paper Citation

in Harvard Style

Mozart A., Moraes G., Guidolini R., Cardoso V., Oliveira-Santos T., F. De Souza A. and Badue C. (2021). Path Planning in Unstructured Urban Environments for Self-driving Cars. In Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-522-7, pages 290-300. DOI: 10.5220/0010559602900300

in Bibtex Style

@conference{icinco21,
author={Anderson Mozart and Gabriel Moraes and Rânik Guidolini and Vinicius Cardoso and Thiago Oliveira-Santos and Alberto F. De Souza and Claudine Badue},
title={Path Planning in Unstructured Urban Environments for Self-driving Cars},
booktitle={Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2021},
pages={290-300},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010559602900300},
isbn={978-989-758-522-7},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Path Planning in Unstructured Urban Environments for Self-driving Cars
SN - 978-989-758-522-7
AU - Mozart A.
AU - Moraes G.
AU - Guidolini R.
AU - Cardoso V.
AU - Oliveira-Santos T.
AU - F. De Souza A.
AU - Badue C.
PY - 2021
SP - 290
EP - 300
DO - 10.5220/0010559602900300