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Flexible and Smooth Trajectory Generation based on Parametric Clothoids for Nonholonomic Car-like Vehicles

Abstract : Smooth path generation for car-like vehicles is one of the most important requisite to facilitate the broadcast use of autonomous navigation. This thesis proposes a smooth path generation method for nonholonomic vehicles which has inherently continuity of curvature and having important flexibility for various boundary conditions. The continuous curvature path is constructed by composing multiple clothoids including lines and/or arc segments, and where each clothoid is obtained by parameter regulation. From those properties the path is named pCCP (parametric Continuous Curvature Path) and provides curvature diagram which facilitates a smooth steering control for path following problem. Local pCCP problem is defined by initial and final tuple configurations (vehicles posture and steering angle). The problem is expanded to be as general as possible by including several cases. The local pCCP generation for steady target pose is specifically described, where the problem is divided into three problems and each problem is also decomposed into several sub-cases. To give more flexibility to the proposed pCCP, dynamic target is considered to obtain dynamic-pCCP (d-CCP). A simple but efficient framework to analyze the future status of obstacle avoidance is applied in 4D (3D with the addition of time axis) configuration and two avoidance maneuvers as front and rear avoidance are applied and validated with several examples. Under the similar methodology in performance criteria of pCCP generation, the human-CCP (h-CCP) is derived from experimental patterns of human driver samples. From several subexperiments, human driving pattern for obstacle avoidance, lane change and cornering motion are extracted and those pattern were included to make the h-CCP (which is obtained with similar way as pCCP but with different optimization criteria) to enhance considerably the passenger comfort.
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Submitted on : Thursday, March 29, 2018 - 1:21:07 PM
Last modification on : Friday, May 17, 2019 - 11:37:54 AM


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  • HAL Id : tel-01751530, version 1


Suhyeon Gim. Flexible and Smooth Trajectory Generation based on Parametric Clothoids for Nonholonomic Car-like Vehicles. Automatic. Université Clermont Auvergne, 2017. English. ⟨NNT : 2017CLFAC023⟩. ⟨tel-01751530⟩



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