Name
Title | ||
|---|---|---|
Dynamic And Safe Path Planning Based On Support Vector Machine Among Multi Moving Obstacles For Autonomous Vehicles |
Abstract | ||
|---|---|---|
We propose a practical local and global path-planning algorithm for an autonomous vehicle or a car-like robot in an unknown semi-structured (or unstructured) environment, where obstacles are detected online by the vehicle's sensors. The algorithm utilizes a probabilistic method based on particle filters to estimate the dynamic obstacles' locations, a support vector machine to provide the critical points and Bezier curves to smooth the generated path. The generated path safely travels through various static and moving obstacles and satisfies the vehicle's movement constraints. The algorithm is implemented and verified on simulation software. Simulation results demonstrate the effectiveness of the proposed method in complicated scenarios that posit the existence of multi moving objects. |
Year | DOI | Venue |
|---|---|---|
2013 | 10.1587/transinf.E96.D.314 | IEICE TRANSACTIONS ON INFORMATION AND SYSTEMS |
Keywords | Field | DocType |
path planning, support vector machine, particle filter, Bezier curve | Motion planning,Computer vision,Computer science,Support vector machine,Particle filter,Bézier curve,Artificial intelligence | Journal |
Volume | Issue | ISSN |
E96D | 2 | 1745-1361 |
Citations | PageRank | References |
8 | 0.56 | 12 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Quoc Huy Do | 1 | 68 | 6.02 |
| Seiichi Mita | 2 | 316 | 38.88 |
| Hossein Tehrani Niknejad | 3 | 112 | 7.29 |
| Long Han | 4 | 61 | 6.96 |