Path Planning for Autonomous Vehicles in Roundabouts Using Edge-Based Bezier Curve Generation Technique (AA* Algorithm)

Autonomous vehicles are rapidly growing research field as they help reduce human efforts while driving. Among the different traffic scenarios that vehicles have to navigate, roundabouts are particularly important as they can effectively reduce traffic congestion. However, roundabouts present a complex intersection to navigate, with specific traffic rules that need to be followed. Researchers have developed various methods for creating paths for autonomous vehicles, and one efficient and suitable approach is using Bezier curve-based path planning. This method can handle the sharp turns and bends associated with roundabouts. However, a major challenge in using Bezier curves is determining the proper positions of the control points. The control points must be appropriately placed to generate curves that match the required shapes. Researchers have proposed different techniques for positioning the control points, but when the shape or size of the roundabout changes, the resulting path may lead to potential vehicle crashes. Adjusting the position of the control point according to the roundabout is necessary, but previous methods have not been successful in achieving this effectively. In this research, a new algorithm called the Akhil-Aizzat star (AA*) algorithm is introduced. It utilizes the edge points of the roundabouts to select points on the vehicle’s path, which are then used to calculate the control points of a Bezier curve passing through these selected points. This algorithm ensures that the control points are located properly based on the shape of the roundabout, resulting in a precise path for the vehicle to follow.