A Robust Modified Hybrid A*-based Closed-loop Local Trajectory Planner for Complex Dynamic Environments

Chinnawut Nantabut, Dirk Abel

2022

Abstract

In the research field of autonomous driving, planning safe and effective trajectories is a key issue, which also requires reliable detection of objects in the environment. This publication introduces a new approach to compute safe trajectories for automated road vehicles quickly and robustly, also considering reliable object detection for static and dynamic objects. For this purpose, the Hybrid A* algorithm modified with Weighted A* is used to accelerate the planning of a collision-free path because the weight w can make the heuristic term h become more important and make the tree much more narrow in the direction of the goal. Afterwards, PID- as well as Stanley controllers are utilized to realize reliable trajectories. This combined algorithm is extended with the L-Shape fitting algorithm to detect objects in the environment. The entire approach is evaluated for unstructured and semistructured environments using simulations of an automated vehicle with a realistic interaction of dynamic obstacles in the presence of model and sensor uncertainties, guarantees a real-time capability of 1 s, and results in collision-free vehicle movement. The whole algorithm, which yields very promising results, will be transferred to a C++ framework and tested with flexible test vehicles in real environments in the future.

Paper Citation

in Harvard Style

Nantabut C. and Abel D. (2022). A Robust Modified Hybrid A*-based Closed-loop Local Trajectory Planner for Complex Dynamic Environments. In Proceedings of the 8th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS, ISBN 978-989-758-573-9, pages 26-35. DOI: 10.5220/0010997800003191

in Bibtex Style

@conference{vehits22,
author={Chinnawut Nantabut and Dirk Abel},
title={A Robust Modified Hybrid A*-based Closed-loop Local Trajectory Planner for Complex Dynamic Environments},
booktitle={Proceedings of the 8th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS,},
year={2022},
pages={26-35},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010997800003191},
isbn={978-989-758-573-9},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 8th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS,
TI - A Robust Modified Hybrid A*-based Closed-loop Local Trajectory Planner for Complex Dynamic Environments
SN - 978-989-758-573-9
AU - Nantabut C.
AU - Abel D.
PY - 2022
SP - 26
EP - 35
DO - 10.5220/0010997800003191