Planeamento de trajectórias usando caminhos de curvatura contínua

Abstract

This paper proposes a method for real-time planning of continuous curvature paths in a structured environment. The building blocks of such paths are circle segments, straight-line segments and clothoids — the later being used to smoothly adapt the curvature profile of the resulting paths. The main application for this method would be to provide guidance for autonomous vehicles in a formula one like environment. Actually, it is currently being used in a RARS (Robot Auto Racing Simulator) driver, a simulation framework for formula one driver robots.