Title :
Quartic Bézier curve based trajectory generation for autonomous vehicles with curvature and velocity constraints
Author :
Cheng Chen ; Yuqing He ; Chunguang Bu ; Jianda Han ; Xuebo Zhang
Author_Institution :
State Key Lab. of Robot., Shenyang Inst. of Autom., Shenyang, China
fDate :
May 31 2014-June 7 2014
Abstract :
To generate local trajectory between initial states and target states for autonomous vehicles, a feasible trajectory generation algorithm based on quartic Bézier curve is proposed. The problem of trajectory generation is firstly separated into generating continuous and bounded curvature profile to shape the trajectory and generating linear velocity profile to execute the trajectory. The curvature profile generation is further converted to an optimization problem with only 3 parameters owing to the specific properties of quartic Bézier curve. Sequential quadratic programming is employed to find optimal solution with respect to specific objective function. To avoid sideslip and ensure velocity-continuity and acceleration limits, the framework of linear velocity profile generation is also proposed. A simple profile with constant acceleration is also provided as an example. Simulation results on lane keeping and changing and path following demonstrate the capability and the real-time performance of the proposed algorithm.
Keywords :
mobile robots; path planning; quadratic programming; trajectory control; velocity control; acceleration limits; autonomous vehicles; bounded curvature profile; curvature constraints; curvature profile generation; lane changing; lane keeping; linear velocity profile generation; optimization problem; path following; quartic Bezier curve based trajectory generation; sequential quadratic programming; sideslip; velocity constraints; velocity-continuity limits; Acceleration; Equations; Mobile robots; Optimization; Trajectory; Vehicles;
Conference_Titel :
Robotics and Automation (ICRA), 2014 IEEE International Conference on
Conference_Location :
Hong Kong
DOI :
10.1109/ICRA.2014.6907759