TY - GEN
T1 - A novel Bezier curve control point search algorithm for autonomous navigation using N-order polynomial search with boundary conditions
AU - Vinayak, Akhil
AU - Zakaria, Muhammad Aizzat
AU - Baarath, K.
AU - Majeed, Anwar P.P.Abdul
N1 - Funding Information:
ACKNOWLEDGMENT The authors would like to thank the Ministry of Higher Education for providing financial support under Fundamental Research Grant Scheme (FRGS) No. FRGS/1/2018/TK08/UMP/02/1 (University reference RDU190104) and Universiti Malaysia Pahang for laboratory facilities as well as additional financial support under Internal Research grant RDU1903139. Special thanks to Georgios Papaioannou from KTH Vehicle Dynamic, Sweden for the valuable inputs.
Publisher Copyright:
© 2021 IEEE.
PY - 2021/9/19
Y1 - 2021/9/19
N2 - The study on path planning at intersections such as roundabouts has become a crucial aspect for autonomous vehicle development. This is due to the nature of the intersections, which can vary depending on the level of complexity. Path generation for an autonomous vehicle in a roundabout cornering is done using different curve fitting methods such as clothoid curves, Bezier curves, etc. However, the Bezier curve is the most widely used in the curve fitting algorithm for vehicle path planning as it can generate a possible number of path maneuvers. However, the main challenge when using the Bezier curve fitting algorithm is finding its control points. The control points are a crucial part of Bezier curve generation as it determines the curvature and shape of the curve. Therefore, a new technique for finding the control points of a Bezier curve is presented in this paper. The process starts with random points selection along the path. Specific random points will be selected through which the curve should pass through. The algorithm then expands the generalized Bezier curve equations to solve the mathematical problem and eventually, the simultaneous equation will be formed for the control point generation. The generated control points will be able to generate a proper Bezier curve that passes through all the selected points along the path. The generated equations are further validated in a test case study to show the effectiveness of the proposed method. This method is able to generate the desired Bezier curve through the selected points. This will open possibilities to generate a smoother predictive motion output using the Bezier curve fitting technique.
AB - The study on path planning at intersections such as roundabouts has become a crucial aspect for autonomous vehicle development. This is due to the nature of the intersections, which can vary depending on the level of complexity. Path generation for an autonomous vehicle in a roundabout cornering is done using different curve fitting methods such as clothoid curves, Bezier curves, etc. However, the Bezier curve is the most widely used in the curve fitting algorithm for vehicle path planning as it can generate a possible number of path maneuvers. However, the main challenge when using the Bezier curve fitting algorithm is finding its control points. The control points are a crucial part of Bezier curve generation as it determines the curvature and shape of the curve. Therefore, a new technique for finding the control points of a Bezier curve is presented in this paper. The process starts with random points selection along the path. Specific random points will be selected through which the curve should pass through. The algorithm then expands the generalized Bezier curve equations to solve the mathematical problem and eventually, the simultaneous equation will be formed for the control point generation. The generated control points will be able to generate a proper Bezier curve that passes through all the selected points along the path. The generated equations are further validated in a test case study to show the effectiveness of the proposed method. This method is able to generate the desired Bezier curve through the selected points. This will open possibilities to generate a smoother predictive motion output using the Bezier curve fitting technique.
KW - Bezier curve
KW - control points
KW - curve fitting
KW - path planning
UR - http://www.scopus.com/inward/record.url?scp=85118463787&partnerID=8YFLogxK
U2 - 10.1109/ITSC48978.2021.9564605
DO - 10.1109/ITSC48978.2021.9564605
M3 - Conference Proceeding
AN - SCOPUS:85118463787
T3 - IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC
SP - 3884
EP - 3889
BT - 2021 IEEE International Intelligent Transportation Systems Conference, ITSC 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 IEEE International Intelligent Transportation Systems Conference, ITSC 2021
Y2 - 19 September 2021 through 22 September 2021
ER -