A Local Path Planning Algorithm for Avoiding Obstacles in the Frenet Frame

Abstract. This paper presents a local path planning algorithm in the coordinate system of the roadbed. The algorithm is based on varying initial trajectory points using the potential field method and ensuring the smooth resulting path in a new coordinate system. This algorithm is executed by minimizing an objective functional. The problem is solved with application to path planning for an unmanned transport platform: it is necessary to change the vehicle’s global smooth trajectory points in real time while maintaining smoothness and avoiding emerging obstacles. Compared to the Cartesian coordinate system, the new coordinate system is advantageous in terms of the execution time of the algorithm. The algorithm is implemented in Python. With a planning horizon being specified, this approach can be combined with various path-following algorithms having no obstacle avoidance methods. Computer simulation results are provided to demonstrate the effectiveness of the proposed algorithm.

Keywords: path planning, Frenet coordinate system, unmanned vehicles.