車輛防碰撞路徑規劃是利用演算法計算出一條車輛可實際行走，同時滿足車輛物理限制以及並不與障礙物產生碰撞的可行路線。最早的防碰撞理論可追溯至七零年代，但主要探討的是機械手臂運動軌跡與障礙物的干涉討論，因此衍生出Visibility Graph和Potential Field等基本理論。而這些後來也成為車輛防撞路徑規劃的重要背景，但上述理論大都未考慮到工具機或車輛運動上的限制，這也是此篇論文所會討探部份。
同時路線的數學式選擇也是另一問題，現在大多使用弧線弧(Arc and Line and Arc)方法，但這數學式並不符合車輛運動的連續性，因此我們是利用貝茲曲線(Bezier Curve)來描述軌跡。接著利用最佳化方法求解。最短的路徑總長為目標函數，以及其他限制式。由於路徑規劃每個瞬間都列入計算，計算量會相當龐大，因此加入掃瞄體的概念，使得計算量大幅下降。
除了建立演算系統外，同時分析車輛的轉向機構，在簡化部份車體設計的情形，自製簡易的模型車做為驗證參考，並且利用輸入的電子訊號驅動馬達表示方向盤動作，測試所求路徑是否可行。

Vehicle collision-free path planning is available path which car can drive on, and, meanwhile, is satisfied physical-constraint and away from barrier. First, we focus on some theories, for the purpose finding a feasible path between obstacles. Second, we also search math formulas to analyze. After comparing those curve, we select bezier curve to be choice. Because bezier curve has curvature continuum property. Third, we use “swept volume” concept to calculate the collision between car and obstacles for reducing calculating time. Base on those background, we can use optimum design to acquire a feasible bezier curve for car to drive on.
We also need some car’s dimension to scale for the test model. In simple way, we pick up steer mechanism of rack and pinion and rear drive. So we use LEXUS IS 300h to be model, scaling down its dimension to small size. Finally, combine this model with electric control system, and try to let car drive on ideal trajectory.

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