Safe path planning among multi obstacles

This paper proposed a practical path-planning algorithm for an autonomous vehicle or a car-like robot in an unknown semi-structured (or unstructured) environment, where obstacles are detected online by the vehicle's sensors. The algorithm is based on particle filter, Bézier curves and support vector machine to provide a safe path among various static and moving obstacles and to satisfy the vehicle's curvature constraints. The algorithm has been implemented and verified on the simulation software. Experimental results demonstrate the effectiveness of the proposed method in complicated conditions with existing of multi objects.