Bézier curve based path planning for autonomous vehicle in urban environment

This paper presents a Bézier curve based path planner which enables the anti-collision behavior of an electronic car. The anti-collision system is a fundamental module in the architecture. The path tracking implementation uses pure pursuit algorithm. The anti-collision system based on laser scanner data consists of estimating the trajectories and behavior of surrounding objects, and a Bézier curve based path planner. Experimental results are presented showing the effectiveness of the overall navigation control system.