Application of sampling-based motion planning algorithms in autonomous vehicle navigation
With the development of the autonomous driving technology, the autonomous vehicle has become one of the key issues for supporting our daily life and economical activities. One of the challenging research areas in autonomous vehicle is the development of an intelligent motion planner, which is able t...
| Main Authors: | , , |
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| Other Authors: | |
| Format: | Book Section |
| Language: | English |
| Published: |
IntechOpen
2016
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| Online Access: | http://psasir.upm.edu.my/id/eprint/52681/1/Application%20of%20sampling-based%20motion%20planning%20algorithms%20in%20autonomous%20vehicle%20navigation.pdf |
| _version_ | 1825930758971195392 |
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| author | Khaksar, Weria Mohamed Sahari, Khairul Salleh Tang, Sai Hong |
| author2 | Zak, Andrzej |
| author_facet | Zak, Andrzej Khaksar, Weria Mohamed Sahari, Khairul Salleh Tang, Sai Hong |
| author_sort | Khaksar, Weria |
| collection | UPM |
| description | With the development of the autonomous driving technology, the autonomous vehicle has become one of the key issues for supporting our daily life and economical activities. One of the challenging research areas in autonomous vehicle is the development of an intelligent motion planner, which is able to guide the vehicle in dynamic changing environments. In this chapter, a novel sampling-based navigation architecture is introduced, which employs the optimal properties of RRT* planner and the low running time property of low-dispersion sampling-based algorithms. Furthermore, a novel segmentation method is proposed, which divides the sampling domain into valid and tabu segments. The resulted navigation architecture is able to guide the autonomous vehicle in complex situations such as takeover or crowded environments. The performance of the proposed method is tested through simulation in different scenarios and also by comparing the performances of RRT and RRT* algorithms. The proposed method provides near-optimal solutions with smaller trees and in lower running time. |
| first_indexed | 2024-03-06T09:16:26Z |
| format | Book Section |
| id | upm.eprints-52681 |
| institution | Universiti Putra Malaysia |
| language | English |
| last_indexed | 2024-03-06T09:16:26Z |
| publishDate | 2016 |
| publisher | IntechOpen |
| record_format | dspace |
| spelling | upm.eprints-526812021-09-04T23:19:02Z http://psasir.upm.edu.my/id/eprint/52681/ Application of sampling-based motion planning algorithms in autonomous vehicle navigation Khaksar, Weria Mohamed Sahari, Khairul Salleh Tang, Sai Hong With the development of the autonomous driving technology, the autonomous vehicle has become one of the key issues for supporting our daily life and economical activities. One of the challenging research areas in autonomous vehicle is the development of an intelligent motion planner, which is able to guide the vehicle in dynamic changing environments. In this chapter, a novel sampling-based navigation architecture is introduced, which employs the optimal properties of RRT* planner and the low running time property of low-dispersion sampling-based algorithms. Furthermore, a novel segmentation method is proposed, which divides the sampling domain into valid and tabu segments. The resulted navigation architecture is able to guide the autonomous vehicle in complex situations such as takeover or crowded environments. The performance of the proposed method is tested through simulation in different scenarios and also by comparing the performances of RRT and RRT* algorithms. The proposed method provides near-optimal solutions with smaller trees and in lower running time. IntechOpen Zak, Andrzej 2016 Book Section PeerReviewed text en http://psasir.upm.edu.my/id/eprint/52681/1/Application%20of%20sampling-based%20motion%20planning%20algorithms%20in%20autonomous%20vehicle%20navigation.pdf Khaksar, Weria and Mohamed Sahari, Khairul Salleh and Tang, Sai Hong (2016) Application of sampling-based motion planning algorithms in autonomous vehicle navigation. In: Autonomous Vehicle. IntechOpen, London, United Kingdom, pp. 21-38. ISBN 9789535125846; EISBN: 9789535157892 https://www.intechopen.com/chapters/51781 10.5772/64730 |
| spellingShingle | Khaksar, Weria Mohamed Sahari, Khairul Salleh Tang, Sai Hong Application of sampling-based motion planning algorithms in autonomous vehicle navigation |
| title | Application of sampling-based motion planning algorithms in autonomous vehicle navigation |
| title_full | Application of sampling-based motion planning algorithms in autonomous vehicle navigation |
| title_fullStr | Application of sampling-based motion planning algorithms in autonomous vehicle navigation |
| title_full_unstemmed | Application of sampling-based motion planning algorithms in autonomous vehicle navigation |
| title_short | Application of sampling-based motion planning algorithms in autonomous vehicle navigation |
| title_sort | application of sampling based motion planning algorithms in autonomous vehicle navigation |
| url | http://psasir.upm.edu.my/id/eprint/52681/1/Application%20of%20sampling-based%20motion%20planning%20algorithms%20in%20autonomous%20vehicle%20navigation.pdf |
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