A FAST AND SIMPLE TRAJECTORY PLANNING ALGORITHM FOR AUTOMOTIVE DEVIES

Abstract

Determining the trajectory moving from position A to B, while avoiding
obstacles as well as changing the environment is a simple task for humans but
very complex for autonomous devices. Typically, autonomous devices will use
sensors to build maps of the surrounding environment, through which to
determine the trajectory of movement as well as appropriate control action to
reach the desired destination. This article proposes a high-speed trajetory
planning algorithm that requires simple settings to ensure safety for selfpropelled equipment with low hardware requirements.