Modification and reliability estimation of vector based Dubins path approach for autonomous ground vehicles path re-planning

Abstract

Modification and reliability estiMation of vector based dubins path approach for autonoMous ground vehicles path re-planning poprawa i ocena niezawodności opartej na wektorowej Metodzie trajektorii dubinsa dla korekty trajektorii pojazdów autonoMicznych Due to global purposes to ensure growth of a competitive and sustainable transport system, also to solve traffic safety and environmental problems, various engineering solutions are being sought out. It can be assumed that autonomous vehicles are the technology, which will ensure the positive change in the transport system. Even though many studies successfully advanced toward realisation of autonomous vehicles, a significant amount of technical and policy framework problems still has to be solved. This paper addresses the problem of predefined path feasibility and proposes an effective methodology for a path to follow re-planning. The proposed methodology is composed of three parts and is based on the Dubins path approach. In order to modify the vector based Dubins path approach and to ensure the path feasibility, the optimisation problem was solved. A cost function with different inequality constraints was formulated. The performance and reliability of the proposed methodology were analysed and evaluated by carrying out an experimental research while using the autonomous test vehicle.