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Shape-Aware and G2 Continuous Path Planning Based on Bidirectional Hybrid A∗ for Car-Like Vehicles

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Abstract

This paper presents modified hybrid A∗ algorithms to facilitate more efficient path finding around narrow passages under the shape and kinematic constraints of a car-like vehicle. First, we propose spline- and bidirectional-search-based hybrid A∗ using G2 continuous motion primitives with multiple turning radii depending on cubic Bezier curves. In addition, we present a heuristic applying the vector field histogram to find a path around narrow passages with efficiency rather than optimization. We demonstrate the benefits of our method through simulations and experimental results using an autonomous ground vehicle in environments with narrow passages.

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Funding

This work was supported by the Industry Core Technology Innovation program (10082585) funded by the Ministry of Trade, Industry & Energy (MOTIE), Korea.

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Authors and Affiliations

  1. LG Electronics Inc., 19, Yangjae-daero 11-gil, Seocho-gu, Seoul, 06772, Korea

    Sangyol Yoon

  2. Department of Electrical Engineering, KAIST, 291 Daehak-ro, Yuseong-gu, Daejeon, 34141, Korea

    Chanyoung Jung & David Hyunchul Shim

Authors
  1. Sangyol Yoon
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  2. Chanyoung Jung
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  3. David Hyunchul Shim
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Contributions

Sangyol Yoon contributes to make the algorithm for path planning. Chanyoung Jung contributes to integrate the algorithm for path planning to our autonomous vehicle. David Hyunchul Shim contributes to review the article and supervise our research.

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Correspondence to Sangyol Yoon.

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The authors declare that they have no competing interest.

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The video for the experiment is provided as the supplement material.

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Yoon, S., Jung, C. & Shim, D.H. Shape-Aware and G2 Continuous Path Planning Based on Bidirectional Hybrid A∗ for Car-Like Vehicles. J Intell Robot Syst 103, 39 (2021). https://doi.org/10.1007/s10846-021-01508-w

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  • DOI: https://doi.org/10.1007/s10846-021-01508-w

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