Apollo: Adaptive Polar Lattice-Based Local Obstacle Avoidance and Motion Planning for Automated Vehicles

The motion planning module is the core module of the automated vehicle software system, which plays a key role in connecting its preceding element, i.e., the sensing module, and its following element, i.e., the control module. The design of an adaptive polar lattice-based local obstacle avoidance (APOLLO) algorithm proposed in this paper takes full account of the characteristics of the vehicle's sensing and control systems. The core of our approach mainly consists of three phases, i.e., the adaptive polar lattice-based local search space design, the collision-free path generation and the path smoothing. By adjusting a few parameters, the algorithm can be adapted to different driving environments and different kinds of vehicle chassis. Simulations show that the proposed method owns strong environmental adaptability and low computation complexity.