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.