13 de diciembre de 2012 ; This paper presents a path and speed planner for automated vehicles in unstructured environments. A global path planner has been designed with bounded continuous curvature and bounded curvature derivative to ensure smooth driving. This will allow the vehicle to know a priori which is the shortest path within a selected area that guarantees lateral accelerations and steering wheel speeds below given pre-set thresholds. A closed-form speed profiler uses semantic information provided by the path planner to set a continuous velocity reference that takes into account bounds on lateral and longitudinal accelerations consistent with comfort. The suitability of the above two features was compared to manual driving in a real instrumented vehicle on a test track. ; Spanish Ministry of Science and Innovation through Research Grant ONDAF TRA2011-27712-C02-01; the Spanish Ministry of Development through Research Grant GUIADE P9/08. ; Peer Reviewed


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Path and speed planning for smooth autonomous navigation


    Beteiligte:

    Erscheinungsdatum :

    07.06.2012


    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    DDC:    629



    Smooth Path Planning for Autonomous Parking System

    Yang, Yi / Zhang, Lu / Qu, Xin et al. | British Library Conference Proceedings | 2017


    Smooth path planning for autonomous parking system

    Yi, Yang / Lu, Zhang / Xin, Qu et al. | IEEE | 2017


    Smooth Obstacle Avoidance Path Planning for Autonomous Vehicles

    Ben-Messaoud, Wael / Basset, Michel / Lauffenburger, Jean-Philippe et al. | IEEE | 2018


    Autonomous path-planning navigation system for site characterization

    Rankin, Arturo L. / Crane, Carl D. / Armstrong, David G. et al. | SPIE | 1996


    Smooth Path Planning for Urban Autonomous Driving Using OpenStreetMaps

    Artuñedo, Antonio / Godoy, Jorge / Villagra, Jorge | British Library Conference Proceedings | 2017