This paper presents a novel navigation architecture for automated car-like vehicles in urban environments. Motion safety is a critical issue in such environments given that they are partially known and highly dynamic with moving objects (other vehicles, pedestrians...). The main feature of the navigation architecture proposed is its ability to make safe motion decision in real-time, thus taking into account the harsh constraints imposed by the type of environments considered. The architecture is based upon an efficient publish/subscribe-based middleware system that allows modularity in design and the easy integration of the key functional components required for autonomous navigation: perception, localisation, mapping, real-time motion planning and motion tracking. After an overall presentation of the architecture and its main modules, the paper focuses on the "motion" components of the architecture. Experimental results carried out on both a simulation platform and a Cycab vehicle in a parking environment are presented.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    A Real-Time Navigation Architecture for Automated Vehicles in Urban Environments


    Beteiligte:
    Chen, Gang (Autor:in) / Fraichard, Thierry (Autor:in)


    Erscheinungsdatum :

    01.06.2007


    Format / Umfang :

    1400417 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    A Real-Time Navigation Architecture for Automated Vehicles in Urban Environments

    Chen, G. / Fraichard, T. / Institute of Electrical and Electronics Engineers | British Library Conference Proceedings | 2007


    Real-Time Safe and Efficient Navigation in Windy Urban Environments

    Spencer Folk / John Melton / Benjamin Margolis et al. | NTRS | 2025


    An architecture for automated driving in urban environments

    Chen, Gang / Fraichard, Thierry | Tema Archiv | 2008


    Real-Time Motion Planning Approach for Automated Driving in Urban Environments

    Artuñedo, Antonio / Villagra,Jorge / Godoy,Jorge | BASE | 2019

    Freier Zugriff