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 makesafe motion decisionsin 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 middleware system that allows modularity in design and the easy integration of the key functional components required for autonomous navigation, namely 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 a simulated Cycab vehicle are presented.


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    Title :

    An architecture for automated driving in urban environments


    Additional title:

    Eine Architektur für automatisches Fahren in städtischer Umgebung


    Contributors:


    Publication date :

    2008


    Size :

    10 Seiten, 5 Bilder, 16 Quellen





    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English





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