A Motion Planning Method for Autonomous Land Vehicles Based on Virtual Tentacles

Based on the kinematics analysis of autonomous land vehicles,in cooperation with the reactive action planning method and the insect′s obstacle avoidance by tentacles,a novel motion planning algorithm using circular-arc virtual tentacles is proposed and the reference front wheel angle of the arc trajectory fragment is given.The simulation and experimental results show that if the proper initial parameters are set,the virtual tentacles algorithm can enable the autonomous vehicle to avoid an obstacle with smooth track and meet the kinematics constraint.It is proved that the algorithm is concise and fit for the real-time control,providing a simple and effective strategy for the motion planning of autonomous vehicles.