Motion Planning and Sensor-Guided Manoeuvre Generation for an Autonomous Vehicle

Christian Laugier; Philippe Garnier; Thierry Fraichard; Igor Paromtchik; Alexis Scheuer

inria-00000016, version 1

Motion Planning and Sensor-Guided Manoeuvre Generation for an Autonomous Vehicle

Christian Laugier () ¹, Philippe Garnier ¹, Thierry Fraichard () ¹, Igor Paromtchik ¹, Alexis Scheuer () ¹

Int. Conf. on Field and Service Robotics (1997) 56-65

1 : SHARP (IMAG-INRIA Rhône-Alpes / GRAVIR)
INRIA – Institut National Polytechnique de Grenoble (INPG) – Université Joseph Fourier - Grenoble I – CNRS : UMR France

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http://hal.inria.fr/inria-00000016
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Contributeur : Alexis Scheuer <>
Soumis le : Mardi 10 Mai 2005, 16:15:49
Dernière modification le : Jeudi 22 Avril 2010, 11:34:40

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%% inria-00000016, version 1
%% http://hal.inria.fr/inria-00000016
@inproceedings{laugier:inria-00000016,
    hal_id = {inria-00000016},
    url = {http://hal.inria.fr/inria-00000016},
    title = {{Motion Planning and Sensor-Guided Manoeuvre Generation for an Autonomous Vehicle}},
    author = {Laugier, Christian and Garnier, Philippe and Fraichard, Thierry and Paromtchik, Igor and Scheuer, Alexis},
    abstract = {{This paper deals with a novel motion control approach for a car-like vehicle evolving in a dynamic and partially known environment. After having briefly presented the overall architecture of the control system and the related Global Trajectory Planner, we will put the emphasis onto the Manoeuver Execution module and its inter-connections with the off-line and the on-line motion planning functions. The key idea of the approach is to plan and carry out sensor-guided manoeuvres: first, a nominal trajectory is generated using a reconstructed model of the world and a prediction of the most likely behaviors of the moving entities; then, the involved motion controls are generated and executed using a reactive scheme for taking into account the unforeseen events. This is done using local trajectories associated with some generic sensor-based manoeuvres. Such trajectories are planned on-line and immediately executed by the system. Experimental results obtained with our automatic car-like vehicle are presented for two types of manoeuvres: lane following/changing and autonomous parallel parking.}},
    keywords = {vehicle, non-holonomic system, control architecture, motion planning, motion execution},
    language = {Anglais},
    affiliation = {SHARP - IMAG-INRIA Rh{\^o}ne-Alpes / GRAVIR},
    booktitle = {{Int. Conf. on Field and Service Robotics}},
    pages = {56-65},
    address = {Canberra (AU), Australie},
    note = {ftp://ftp.inrialpes.fr/pub/sharp/publications/laugier:etal:icfsr:97.pdf.gz (not accepted here, non vectorial font)Lately published in a book (cf. inria-00000020) },
    audience = {non sp{\'e}cifi{\'e}e },
    year = {1997},
    month = Dec,
}

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