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Authors: Anderson Mozart ; Gabriel Moraes ; Rânik Guidolini ; Vinicius B. Cardoso ; Thiago Oliveira-Santos ; Alberto F. De Souza and Claudine Badue

Affiliation: Departamento de Informática, Universidade Federal do Espírito Santo, Vitória, Brazil

Keyword(s): Path Planning, Unstructured Urban Environments, Self-driving Cars, A* Algorithm.

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.

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Paper citation in several formats:
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 - ICINCO; ISBN 978-989-758-522-7; ISSN 2184-2809, SciTePress, pages 290-300. DOI: 10.5220/0010559602900300

@conference{icinco21,
author={Anderson Mozart. and Gabriel Moraes. and Rânik Guidolini. and Vinicius B. 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 - ICINCO},
year={2021},
pages={290-300},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010559602900300},
isbn={978-989-758-522-7},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - ICINCO
TI - Path Planning in Unstructured Urban Environments for Self-driving Cars
SN - 978-989-758-522-7
IS - 2184-2809
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
PB - SciTePress

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