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Future Internet 2017, 9(3), 51; doi:10.3390/fi9030051 (registering DOI)

Local Path Planning of Driverless Car Navigation Based on Jump Point Search Method Under Urban Environment

1
Mobile E-Business Collaborative Innovation Center of Hunan Province, Hunan University of Commerce, Changsha 410205, China
2
Key Laboratory of Hunan Province for Mobile Business Intelligence, Hunan University of Commerce, Changsha 410205, China
3
School of Information Science and Engineering, Central South University, Changsha 410083, China
*
Author to whom correspondence should be addressed.
Received: 8 August 2017 / Revised: 27 August 2017 / Accepted: 5 September 2017 / Published: 12 September 2017
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Abstract

The Jump Point Search (JPS) algorithm is adopted for local path planning of the driverless car under urban environment, and it is a fast search method applied in path planning. Firstly, a vector Geographic Information System (GIS) map, including Global Positioning System (GPS) position, direction, and lane information, is built for global path planning. Secondly, the GIS map database is utilized in global path planning for the driverless car. Then, the JPS algorithm is adopted to avoid the front obstacle, and to find an optimal local path for the driverless car in the urban environment. Finally, 125 different simulation experiments in the urban environment demonstrate that JPS can search out the optimal and safety path successfully, and meanwhile, it has a lower time complexity compared with the Vector Field Histogram (VFH), the Rapidly Exploring Random Tree (RRT), A*, and the Probabilistic Roadmaps (PRM) algorithms. Furthermore, JPS is validated usefully in the structured urban environment. View Full-Text
Keywords: driverless car; JPS algorithm; GIS map; structured urban environment driverless car; JPS algorithm; GIS map; structured urban environment
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Zhou, K.; Yu, L.; Long, Z.; Mo, S. Local Path Planning of Driverless Car Navigation Based on Jump Point Search Method Under Urban Environment. Future Internet 2017, 9, 51.

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