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A Novel Triangular-Based Estimation Technique for Bezier Curve Control Points Generation on Autonomous Vehicle Path Planning at the Roundabout Intersection

Path planning plays a major role in autonomous vehicle navigation. Among different kinds of intersections, roundabouts are far more difficult to plot a course than other intersections due to their special design. Different curve fitting methods such as circles, clothoid curves, Bezier curves are uti...

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Main Authors: Vinayak, Akhil, Muhammad Aizzat, Zakaria, Baarath, K., Peeie, Mohamad Heerwan, Muhammad Izhar, Ishak
Format: Article
Language:English
English
Published: Springer Netherlands 2023
Subjects:
TL Motor vehicles. Aeronautics. Astronautics
TS Manufactures
Online Access:http://umpir.ump.edu.my/id/eprint/40549/1/A%20Novel%20Triangular-Based%20Estimation%20Technique.pdf
http://umpir.ump.edu.my/id/eprint/40549/2/A%20Novel%20Triangular-Based%20Estimation%20Technique%20for%20Bezier%20Curve%20Control%20Points%20Generation%20on%20Autonomous%20Vehicle%20Path%20Planning%20at%20the%20Roundabout%20Intersection.pdf
http://umpir.ump.edu.my/id/eprint/40549/
https://doi.org/10.1007/s10846-023-02006-x
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spelling my.ump.umpir.405492024-02-29T06:59:58Z http://umpir.ump.edu.my/id/eprint/40549/ A Novel Triangular-Based Estimation Technique for Bezier Curve Control Points Generation on Autonomous Vehicle Path Planning at the Roundabout Intersection Vinayak, Akhil Muhammad Aizzat, Zakaria Baarath, K. Peeie, Mohamad Heerwan Muhammad Izhar, Ishak TL Motor vehicles. Aeronautics. Astronautics TS Manufactures Path planning plays a major role in autonomous vehicle navigation. Among different kinds of intersections, roundabouts are far more difficult to plot a course than other intersections due to their special design. Different curve fitting methods such as circles, clothoid curves, Bezier curves are utilized for path planning inside a roundabout. Among those Bezier curves are widely used as they can generate a possible number of paths. However, the major drawback when adopting a Bezier curve is locating its control points. Control points need to be placed correctly for the path to generate. Roundabouts have varying shapes and sizes, there is no one-size-fits-all strategy for locating the control points in a roundabout. Moreover, the circulating path of a roundabout is generally formed based on the radius of the circular path, but this method cannot be applied in all roundabouts since the roundabout can have variable shapes depending on the available space. Therefore, this paper introduces a new method called the triangular-based point selection approach for locating the control points for a Bezier curve traversing a path. The triangular-based point selection approach is used to find points on the road to calculate the control points of a Bezier curve passing through these points. The circular path is likewise created using Bezier curve allowing the path to follow the contour of the roundabout. The proposed method is demonstrated in an oval-shaped roundabout and tested using a vehicle model also the proposed path generation algorithm is compared with other path planning methods. Springer Netherlands 2023 Article PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/40549/1/A%20Novel%20Triangular-Based%20Estimation%20Technique.pdf pdf en http://umpir.ump.edu.my/id/eprint/40549/2/A%20Novel%20Triangular-Based%20Estimation%20Technique%20for%20Bezier%20Curve%20Control%20Points%20Generation%20on%20Autonomous%20Vehicle%20Path%20Planning%20at%20the%20Roundabout%20Intersection.pdf Vinayak, Akhil and Muhammad Aizzat, Zakaria and Baarath, K. and Peeie, Mohamad Heerwan and Muhammad Izhar, Ishak (2023) A Novel Triangular-Based Estimation Technique for Bezier Curve Control Points Generation on Autonomous Vehicle Path Planning at the Roundabout Intersection. Journal of Intelligent and Robotic Systems: Theory and Applications, 109 (4). pp. 1-18. ISSN 1573-0409. (Published) https://doi.org/10.1007/s10846-023-02006-x 10.1007/s10846-023-02006-x
institution Universiti Malaysia Pahang Al-Sultan Abdullah
building UMPSA Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaysia Pahang Al-Sultan Abdullah
content_source UMPSA Institutional Repository
url_provider http://umpir.ump.edu.my/
language English
English
topic TL Motor vehicles. Aeronautics. Astronautics
TS Manufactures
spellingShingle TL Motor vehicles. Aeronautics. Astronautics
TS Manufactures
Vinayak, Akhil
Muhammad Aizzat, Zakaria
Baarath, K.
Peeie, Mohamad Heerwan
Muhammad Izhar, Ishak
A Novel Triangular-Based Estimation Technique for Bezier Curve Control Points Generation on Autonomous Vehicle Path Planning at the Roundabout Intersection
description Path planning plays a major role in autonomous vehicle navigation. Among different kinds of intersections, roundabouts are far more difficult to plot a course than other intersections due to their special design. Different curve fitting methods such as circles, clothoid curves, Bezier curves are utilized for path planning inside a roundabout. Among those Bezier curves are widely used as they can generate a possible number of paths. However, the major drawback when adopting a Bezier curve is locating its control points. Control points need to be placed correctly for the path to generate. Roundabouts have varying shapes and sizes, there is no one-size-fits-all strategy for locating the control points in a roundabout. Moreover, the circulating path of a roundabout is generally formed based on the radius of the circular path, but this method cannot be applied in all roundabouts since the roundabout can have variable shapes depending on the available space. Therefore, this paper introduces a new method called the triangular-based point selection approach for locating the control points for a Bezier curve traversing a path. The triangular-based point selection approach is used to find points on the road to calculate the control points of a Bezier curve passing through these points. The circular path is likewise created using Bezier curve allowing the path to follow the contour of the roundabout. The proposed method is demonstrated in an oval-shaped roundabout and tested using a vehicle model also the proposed path generation algorithm is compared with other path planning methods.
format Article
author Vinayak, Akhil
Muhammad Aizzat, Zakaria
Baarath, K.
Peeie, Mohamad Heerwan
Muhammad Izhar, Ishak
author_facet Vinayak, Akhil
Muhammad Aizzat, Zakaria
Baarath, K.
Peeie, Mohamad Heerwan
Muhammad Izhar, Ishak
author_sort Vinayak, Akhil
title A Novel Triangular-Based Estimation Technique for Bezier Curve Control Points Generation on Autonomous Vehicle Path Planning at the Roundabout Intersection
title_short A Novel Triangular-Based Estimation Technique for Bezier Curve Control Points Generation on Autonomous Vehicle Path Planning at the Roundabout Intersection
title_full A Novel Triangular-Based Estimation Technique for Bezier Curve Control Points Generation on Autonomous Vehicle Path Planning at the Roundabout Intersection
title_fullStr A Novel Triangular-Based Estimation Technique for Bezier Curve Control Points Generation on Autonomous Vehicle Path Planning at the Roundabout Intersection
title_full_unstemmed A Novel Triangular-Based Estimation Technique for Bezier Curve Control Points Generation on Autonomous Vehicle Path Planning at the Roundabout Intersection
title_sort novel triangular-based estimation technique for bezier curve control points generation on autonomous vehicle path planning at the roundabout intersection
publisher Springer Netherlands
publishDate 2023
url http://umpir.ump.edu.my/id/eprint/40549/1/A%20Novel%20Triangular-Based%20Estimation%20Technique.pdf
http://umpir.ump.edu.my/id/eprint/40549/2/A%20Novel%20Triangular-Based%20Estimation%20Technique%20for%20Bezier%20Curve%20Control%20Points%20Generation%20on%20Autonomous%20Vehicle%20Path%20Planning%20at%20the%20Roundabout%20Intersection.pdf
http://umpir.ump.edu.my/id/eprint/40549/
https://doi.org/10.1007/s10846-023-02006-x
_version_ 1822924171172118528
score 13.232414

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