The problem of autonomous vehicle navigation between lanes, around obstacles and towards a short term goal can be solved using Reinforcement Learning. The multi-lane road ahead of a vehicle may be represented by a Markov Decision Process (MDP) grid-world containing positive and negative rewards, allowing for practical computation of an optimal path using either value iteration (VI) or policy it...

This paper proposes a geometric iteration algorithm for computing point projection and inversion on planar parametric curves based on local biarc approximation. The iteration begins with initial estimation of the projection of the prescribed test point. For each iteration, we construct a biarc that locally approximates a segment on the original curve starting from the current projective point. ...