Skip to Main content Skip to Navigation
New interface
Conference papers

Path and speed planning for smooth autonomous navigation

Abstract : 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.
Document type :
Conference papers
Complete list of metadata

Cited literature [24 references]  Display  Hide  Download
Contributor : Joshué Pérez Rastelli Connect in order to contact the contributor
Submitted on : Monday, October 1, 2012 - 1:42:54 PM
Last modification on : Tuesday, November 29, 2022 - 12:12:15 PM
Long-term archiving on: : Wednesday, January 2, 2013 - 3:55:36 AM


Files produced by the author(s)


  • HAL Id : hal-00732930, version 1



Jorge Villagra, Vicente Milanés, Joshué Pérez Rastelli, Jorge Godoy, Enrique Onieva. Path and speed planning for smooth autonomous navigation. IV 2012 - IEEE Intelligent Vehicles Symposium, Jun 2012, Alcala de Henares, Madrid, Spain. ⟨hal-00732930⟩



Record views


Files downloads