Spline-Based Dynamic Object Handling in Autonomous Vehicles: A Model-Based Path Planning Algorithm

Abstract

In this study we propose a model-based dynamic path planning algorithm that is designed to navigate Autonomous Vehicles through complex and dynamic environments. To achieve that, a novel spline-based approach is utilized for the production of several candidate paths along a predetermined route and a Gaussian-based function is utilized for their evaluation. Our algorithm takes into account various factors, such as static and dynamic objects, to make the appropriate decisions for the vehicle’s path, making it a promising solution for such objects during an autonomous vehicle navigation. The algorithm was tested in high-fidelity scenarios using CARLA Simulator, which is a powerful tool for simulating autonomous vehicle scenarios. The results indicate that the proposed algorithm is capable of generating efficient and safe paths for the vehicle to follow.