Meet the editors

Umar Zakir Abdul Hamid, PhD, is one of the pioneering researchers in the autonomous vehicle (AV) field in Malaysia. Dr. Hamid was a member of the Intelligent Drive Team of the Vehicle System Engineering Research Group at the Universiti Teknologi Malaysia. The team researches Advanced Driver Assistance Systems (ADAS) and autonomous vehicles in Malaysia; previous collaborators include PROTON Holdings Berhad and the Smart Mobility Research

Center (Tokyo). Dr. Zakir served as an AV Scientist with Moovita (Singapore and Malaysia) from 2017 to 2018, before embarking on a new journey as an AV Senior Engineer with Sensible 4 in Espoo, Finland. He is a reviewer for several prestigious journals and conferences in the automotive and robotics field.

Dr. Volkan Sezer received a BSc in Electronics and Telecommunication Engineering from Yildiz Technical University, Istanbul, Turkey, in 2005, and an MSc in Mechatronics Engineering and a PhD in Control and Automation Engineering from Istanbul Technical University, Istanbul, Turkey, in 2008 and 2012, respectively. His research covers mostly robotics and automotive technology. During his undergraduate studies, he founded and managed a stu-

dent team in alternative energy vehicles. They developed a solar car and fuel cell car and were awarded in Turkey's national competitions. He also worked on a hybrid electric vehicle development project. He designed and applied a new energy management strategy to a real hybrid electric vehicle. During his graduate studies, he continued his research on hybrid and electric vehicles together with autonomous robots. He founded and managed the first autonomous vehicle project team and developed, along with three of his students, the first fully autonomous vehicle in Turkey. Dr. Sezer developed and applied several new methods in obstacle avoidance, speed planning, and low-level control of the vehicle. After obtaining his PhD, he worked as a researcher in Singapore for the Massachusetts Institute of Technology (MIT) in its Future Urban Mobility (FM) group. His fields of interest are autonomous/semi-autonomous ground vehicles, mobile robots, control of hybrid electric vehicles, trajectory planning, obstacle/collision avoidance, active safety in road vehicles, machine learning, control of hybrid electric vehicles, and energy efficiency.

Bin Li, PhD, is currently working with Aptiv PLC, USA, as Lead Algorithm Engineer, focusing on system architecture and algorithm development and verification of motion planning and control of autonomous vehicles. He received a PhD in Mechanical Engineering from Shanghai Jiao Tong University, Shanghai, China, in 2010. Dr. Li has more than 15 years' research experience in vehicle dynamics and control, electric vehicles, active safety, and

autonomous driving. He has published more than 50 papers and chapters. He was a researcher on active safety control for commercial vehicles at Concordia University, a research engineer on mobile robotic control at McGill University, Montreal, Quebec, and a research fellow on next-generation electric vehicle at the University of Waterloo, Ontario, Canada. Dr. Li has been an active organizer for SAE World Congress and ASME conferences since 2015.

Yanjun Huang is a postdoctoral fellow at the Department of Mechanical and Mechatronics Engineering at the University of Waterloo, Ontario, Canada, where he received his PhD in 2016. His research interest is mainly on vehicle holistic control in terms of safety, energy savings, and intelligence, including vehicle dynamics and control, HEV/EV optimization and control, motion planning and control of connected and autonomous vehicles, and

Contents

**Section 1**

**Section 2**

**Section 3**

Infrastructure Purpose

**Preface III**

Path Planning for Autonomous Vehicles **1**

**Chapter 1 3** Introductory Chapter: Roles of Path Planning in Providing Reliable Navigation

**Chapter 2 9**

Path Planning in Varied Environments **27**

**Chapter 3 29**

**Chapter 4 51** Vision-Based Path Finding Strategy of Unmanned Aerial Vehicles for Electrical

**Chapter 5 63**

Towards an Optimal Path Planning **77**

**Chapter 6 79**

Extending the Limits of the Random Exploration Graph for Efficient

and Control for Autonomous Vehicles and Robots

*by Jaroslav Kozůbek, Zdeněk Flasar and Ivo Dumišinec*

Path Planning for Autonomous Vehicle in Off-Road Scenario

Military Factors Influencing Path Planning

*by Boyuan Li, Haiping Du and Bangji Zhang*

*by Alexander Cerón, Flavio Prieto and Luis Mejias*

Model of the Optimal Maneuver Route *by Jan Nohel, Petr Stodola and Zdeněk Flasar*

Autonomous Exploration in Unknown Environments *by Alfredo Toriz Palacios and Abraham Sánchez López*

*and Muhammad Aizzat Zakaria*

*by Umar Zakir Abdul Hamid, Volkan Sezer, Bin Li, Yanjun Huang* 

human-machine cooperative driving. Dr. Huang is also an associate editor for several international journals.

One of the pioneering researchers in the field of autonomous vehicles in Malaysia, Dr. Muhammad Aizzat Zakaria is a senior lecturer at Universiti Malaysia Pahang. His current research focuses on intelligent vehicle navigation. Dr. Zakaria has worked on the intelligent mobile robot systems of autonomous vehicles. He is also interested in working with robotic system modelling and mechatronic systems for robotic intelligent control applications.
