An Overview of Nature-Inspired, Conventional, and Hybrid Methods of Autonomous Vehicle Path Planning

Algorithm 1

BPF algorithm.

1: procedure NAVIGATION(, , , , e, M, )

2:  i ← 0

3:  navigation ← True

4:  Ƥ ← BPF(, , , , e, M, ) Ƥ is an array

5:  while  navigation  do

6:   Perform  verification of the environment

7:   if environment has changed then

8:    q_o←Ƥ(i)

9:    Ƥ← BPF(, , , , e, M, )

10:    i ← 0

11:   end if

12:   i ← i+ 1

13:   Perform  trajectory planning to navigate from Ƥ(i-1) to Ƥ(i)

14:  if i length of Ƥ then

15:   navigation← False

16:   Display  Goal has been achieved

17:  end if

18: end while

19: end procedure