Optimal Path Planner For Autonomous Vehicles

M. Imran Akram, Ahmed Pasha, Nabeel Iqbal
2007 Zenodo  
In this paper a real-time trajectory generation algorithm for computing 2-D optimal paths for autonomous aerial vehicles has been discussed. A dynamic programming approach is adopted to compute k-best paths by minimizing a cost function. Collision detection is implemented to detect intersection of the paths with obstacles. Our contribution is a novel approach to the problem of trajectory generation that is computationally efficient and offers considerable gain over existing techniques.
doi:10.5281/zenodo.1070367 fatcat:t4qcn42llneu5gqdbiqf6wehjy