Paper Title
A Path Planning And Road Detection Algorithm For Autonomous Ground Vehicle

A novel global path planning and unstructured road detection approach is proposed in this paper for autonomous ground vehicle navigation. Global Path planning is done using a map generated from Google maps. Dijkstra’s algorithm is implemented to find shortest path between a source and destination. A vision based road detection and following algorithm is then used for local path planning along with other sensors. Both structured and unstructured road are taken into consideration for road detection. The developed system successfully separated footpaths, grass, bushes, trees from road surface when tested on images and videos. The proposed scheme has been successfully implemented and tested on the autonomous ground vehicle. The problem of shadow removal has not been taken into consideration while designing the system Keywords- Autonomous Ground Vehicle, Path Planning, Structured Road, Unstructured Road