Path-Tracking Algorithms for Collision Avoidance

Path-planning is a widely studied subject in the field of unmanned robots, and it is also one of the basic operations required to realize collision avoidance for autonomous driving vehicles. With information about obstacles location given by onboard sensors and road geometry information provided by highly automated driving map [28], a path planner calculates a feasible collisionfree trajectory to the destination in the complex traffic environment while satisfying the criteria set. The path planning problem for collision avoidance can be described using the following set of specifications.