Automatic two-lane road generation in terms of quartic B-spline curves for autonomous vehicles

Abstract

In this paper we introduce an algorithm for generating collision-free two-lane haul road for unmanned vehicles used in the mining areas in terms of quartic B-spline curves. Given the boundary geometry of the haul road area, positions and 2D vehicle orientation at the start and goal points, the algorithm automatically generates collision-free haul roads that possess slope continuity of curvature at knots. Examples are provided to demonstrate the effectiveness of the proposed algorithms.