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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

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Abstract

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.

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Not applicable as the finding shows the mathematical equations. The equations can be tested with any common numerical software such as MATLAB and Python as well as Robotic Operating System (ROS) integration.

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Acknowledgement

The authors would like to thank the ministry of higher education for providing financial support under Fundamental Research Grant scheme (FRGS) No. FRGS/1/2021/TK02/UMP/02/2 (University Reference RDU210103) and Universiti Malaysia Pahang for laboratory facilities as well as additional financial support under Internal Research grant RDU1903139.

Funding

Ministry of Higher Education Malaysia. Universiti Malaysia Pahang Al-Sultan Abdullah

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Authors and Affiliations

  1. Faculty of Manufacturing and Mechatronic Engineering Technology, Universiti Malaysia Pahang Al-Sultan Abdullah, 26600, Pekan, Pahang, Malaysia

    Akhil Vinayak, Muhammad Aizzat Zakaria & K. Baarath

  2. Autonomous Vehicle Laboratory, Automotive Engineering Centre, Universiti Malaysia Pahang Al-Sultan Abdullah, 26600, Pekan, Pahang, Malaysia

    Akhil Vinayak, Muhammad Aizzat Zakaria, K. Baarath, Mohamad Heerwan Peeie & Muhammad Izhar Ishak

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  1. Akhil Vinayak
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  2. Muhammad Aizzat Zakaria
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  3. K. Baarath
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  4. Mohamad Heerwan Peeie
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Contributions

Akhil Vinayak Main author of the paper. Responsible for derivations of the formulation and equations development. Muhammad Aizzat Zakaria Corresponding author. Responsible for the structure of the formulation, problem statement, numerical test case setup and reviewing the paper. K. Baarath Responsible for the test case setup environment in simulation. Mohamad Heerwan Peeie Responsible for reviewing the content of the paper as well as the problem statement of the research. Muhammad Izhar Ishak Responsible in reviewing the content and proofreading the paper and content flow management.

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Correspondence to Muhammad Aizzat Zakaria.

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Vinayak, A., Zakaria, M.A., Baarath, K. et al. A Novel Triangular-Based Estimation Technique for Bezier Curve Control Points Generation on Autonomous Vehicle Path Planning at the Roundabout Intersection. J Intell Robot Syst 109, 89 (2023). https://doi.org/10.1007/s10846-023-02006-x

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