A motion planning algorithm for autonomous land vehicle based on virtual tentacles

By the kinematic analysis of autonomous land vehicle, a novel motion planning algorithm using circular-arc virtual tentacles is proposed, which is based on the reactive action planning method and the insect´s obstacle avoidance by tentacles. The reference front wheel angle of the arc trajectory fragment is also given. The simulation and experimental results show that with the proper initial parameters, an obstacle avoidance track that is smooth and can meet the kinematic constraint of the vehicle is given by the virtual tentacles algorithm. It is proved that the algorithm is concise and fit for the real-time control.