Online Trajectory Planning With a Modified Potential Field Method On Distr Archi for AV ITS World Cong

​Abstract

This paper presents an online trajectory planning strategy with a modified potential field method on

distributed architectures for autonomous vehicles. The approach overcomes the well-known artificial

potential field method (APFM) issue, which is due to local minima that induce the APFM to stick in. Thus,

the standard APFM is no longer useful.