Path planning for avoiding obstacles for unmanned ground vehicles

Abstract

An Unmanned Ground Vehicle (UGV) is an intelligent system that drives a vehicle safely to the defined destination without any driver support. The safe operation of a UGV requires studies on safe and efficient path generation. In this paper, we propose a path planning algorithm for avoiding obstacles using Vehicle to Vehicle (V2V) communication, which is a vehicle safety communication method, to overcome the limits of existing studies, such as blind zones, that recognize vehicles on the basis of the sensors attached to vehicles. The proposed path planning algorithm generates a safe path by using the cubic spline method and recognizes obstacles by the index values of various possible paths for auto- piloting the vehicle. This study is expected to aid in the application of V2V- based evasion path planning in various scenarios.