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An Efficient and Smooth Path Planner Based on Hybrid A* Search and Frenet Frames

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Security and Privacy in Cyber-Physical Systems and Smart Vehicles (SmartSP 2023)

Abstract

As the technology of autonomous vehicles advances, the importance of automatic path planning also grows significantly. This leads to the exploration of diverse algorithms and learning-based techniques. While most methods safely and efficiently navigate vehicles to their destinations, the comfort of a journey is often overlooked. To address the issue, this paper focuses on a path planning algorithm that integrates the hybrid A* path planner [2] and the Frenet Frame trajectory generator [8]. We evaluate the performance of the proposed algorithm in terms of travel efficiency and passenger comfort. The experimental results demonstrate that the proposed algorithm better trades off travel efficiency and passenger comfort, compared with the pure Frenet Frame trajectory generator. The results also provide an insight that input preprocessing, even if it is a simple one, can affect Frenet Frame trajectory generator significantly, and it is worth future exploration.

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Acknowledgement

This work is partially supported by Ministry of Education (MOE) in Taiwan under Grant Number NTU-112V2003-1 and National Science and Technology Council (NSTC) in Taiwan under Grant Numbers NSTC-112-2636-E-002-010 and NSTC-112-2221-E-002-168-MY3.

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Authors and Affiliations

  1. National Taiwan University, Taipei City, Taiwan

    Pin-Wen Wang, Yi-Chi Tseng & Chung-Wei Lin

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  1. Pin-Wen Wang
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  2. Yi-Chi Tseng
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  3. Chung-Wei Lin
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Corresponding author

Correspondence to Chung-Wei Lin .

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Editors and Affiliations

  1. Binghamton University, Binghamton, NY, USA

    Yu Chen

  2. National Taiwan University, Taipei, Taiwan

    Chung-Wei Lin

  3. Michigan Technological University, Houghton, MI, USA

    Bo Chen

  4. Northwestern University, Evanston, IL, USA

    Qi Zhu

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© 2024 ICST Institute for Computer Sciences, Social Informatics and Telecommunications Engineering

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Wang, PW., Tseng, YC., Lin, CW. (2024). An Efficient and Smooth Path Planner Based on Hybrid A* Search and Frenet Frames. In: Chen, Y., Lin, CW., Chen, B., Zhu, Q. (eds) Security and Privacy in Cyber-Physical Systems and Smart Vehicles. SmartSP 2023. Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering, vol 552. Springer, Cham. https://doi.org/10.1007/978-3-031-51630-6_5

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  • DOI: https://doi.org/10.1007/978-3-031-51630-6_5

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-031-51629-0

  • Online ISBN: 978-3-031-51630-6

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