Trajectory Planning for UGV Using Clothoids

Path planning and autonomous navigation are the important challenges in mobile robotics. These are difficult tasks because the robot has to accurately and safely perform autonomous maneuverings. This work presents a methodology to plan the trajectory of a robot in dynamic and complex environments. Also, the changing lanes of one simulated car, which it traverse autonomously. A planner based in the AD* algorithm is used to plan a less costly trajectory to the destination for the task of automatic parking. For the changing lanes, we use the clothoid creation method, which is useful for avoid a vehicle in front of it. The methodology enables the robot to reach the goal, which is applied to determine the speed and steering of the robot. The results show that the methodology can create smooth clothoid trajectories to the vehicle follow.