Path planning for autonomous navigation in roundabouts using an improved triangular based polynomial estimation technique for bezier curve generation with aa and aa* algorithms

Autonomous vehicle (AVs) development is a rapidly growing research field. The AVs need to inspect the environment and detect the obstacle to create a path according to the environment. Path planning is a critical stage in the operation of vehicles, wherein the path is generated based on the surround...

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Main Author:	Sajith Akhil, Vinayak
Format:	Thesis
Language:	English
Published:	2023
Subjects:	TA Engineering (General) Civil engineering (General) TS Manufactures
Online Access:	http://umpir.ump.edu.my/id/eprint/39653/1/ir.Path%20planning%20for%20autonomous%20navigation%20in%20roundabouts%20using%20an%20improved%20triangular%20based%20polynomial%20estimation%20technique.pdf
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id	my-ump-ir.39653
record_format	uketd_dc
spelling	my-ump-ir.396532023-12-14T03:26:59Z Path planning for autonomous navigation in roundabouts using an improved triangular based polynomial estimation technique for bezier curve generation with aa and aa* algorithms 2023-03 Sajith Akhil, Vinayak TA Engineering (General). Civil engineering (General) TS Manufactures Autonomous vehicle (AVs) development is a rapidly growing research field. The AVs need to inspect the environment and detect the obstacle to create a path according to the environment. Path planning is a critical stage in the operation of vehicles, wherein the path is generated based on the surrounding environment to ensure safe and efficient navigation. The path is created for the vehicle to travel through different intersections. Among that roundabout is a type of intersection where path planning is challenging due to their complex shape and different traffic rules. To overcome this, different curve fitting methods were used to create path. However, the commonly used method is Bezier curve based curve fitting method which depends on the position of the control points. Many researchers have established different methods to position the control points but the change in the shape of roundabout cause the path to be inaccurate as the position of the control points are fixed. Therefore, the objective of the research is to introduce an enhanced method for calculating the control points for Bezier curve generation according to the shape of the roundabout. A triangular-based polynomial estimation technique is introduced, which helps calculate the Bezier curve's control points based on the points selected in the path. An equation is introduced which helps in calculating the control points based on the points selected and the respective segmentation factor ( 2023-03 Thesis http://umpir.ump.edu.my/id/eprint/39653/ http://umpir.ump.edu.my/id/eprint/39653/1/ir.Path%20planning%20for%20autonomous%20navigation%20in%20roundabouts%20using%20an%20improved%20triangular%20based%20polynomial%20estimation%20technique.pdf pdf en public masters Universiti Malaysia Pahang Faculty of Manufacturing and Mechatronic Engineering Technology Muhammad Aizzat, Zakaria
institution	Universiti Malaysia Pahang Al-Sultan Abdullah
collection	UMPSA Institutional Repository
language	English
advisor	Muhammad Aizzat, Zakaria
topic	TA Engineering (General) Civil engineering (General) TS Manufactures
spellingShingle	TA Engineering (General) Civil engineering (General) TS Manufactures Sajith Akhil, Vinayak Path planning for autonomous navigation in roundabouts using an improved triangular based polynomial estimation technique for bezier curve generation with aa and aa* algorithms
description	Autonomous vehicle (AVs) development is a rapidly growing research field. The AVs need to inspect the environment and detect the obstacle to create a path according to the environment. Path planning is a critical stage in the operation of vehicles, wherein the path is generated based on the surrounding environment to ensure safe and efficient navigation. The path is created for the vehicle to travel through different intersections. Among that roundabout is a type of intersection where path planning is challenging due to their complex shape and different traffic rules. To overcome this, different curve fitting methods were used to create path. However, the commonly used method is Bezier curve based curve fitting method which depends on the position of the control points. Many researchers have established different methods to position the control points but the change in the shape of roundabout cause the path to be inaccurate as the position of the control points are fixed. Therefore, the objective of the research is to introduce an enhanced method for calculating the control points for Bezier curve generation according to the shape of the roundabout. A triangular-based polynomial estimation technique is introduced, which helps calculate the Bezier curve's control points based on the points selected in the path. An equation is introduced which helps in calculating the control points based on the points selected and the respective segmentation factor (
format	Thesis
qualification_level	Master's degree
author	Sajith Akhil, Vinayak
author_facet	Sajith Akhil, Vinayak
author_sort	Sajith Akhil, Vinayak
title	Path planning for autonomous navigation in roundabouts using an improved triangular based polynomial estimation technique for bezier curve generation with aa and aa* algorithms
title_short	Path planning for autonomous navigation in roundabouts using an improved triangular based polynomial estimation technique for bezier curve generation with aa and aa* algorithms
title_full	Path planning for autonomous navigation in roundabouts using an improved triangular based polynomial estimation technique for bezier curve generation with aa and aa* algorithms
title_fullStr	Path planning for autonomous navigation in roundabouts using an improved triangular based polynomial estimation technique for bezier curve generation with aa and aa* algorithms
title_full_unstemmed	Path planning for autonomous navigation in roundabouts using an improved triangular based polynomial estimation technique for bezier curve generation with aa and aa* algorithms
title_sort	path planning for autonomous navigation in roundabouts using an improved triangular based polynomial estimation technique for bezier curve generation with aa and aa* algorithms
granting_institution	Universiti Malaysia Pahang
granting_department	Faculty of Manufacturing and Mechatronic Engineering Technology
publishDate	2023
url	http://umpir.ump.edu.my/id/eprint/39653/1/ir.Path%20planning%20for%20autonomous%20navigation%20in%20roundabouts%20using%20an%20improved%20triangular%20based%20polynomial%20estimation%20technique.pdf
_version_	1794020298042900480

Path planning for autonomous navigation in roundabouts using an improved triangular based polynomial estimation technique for bezier curve generation with aa and aa* algorithms

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