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.
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Communication dans un congrès
IV 2012 - IEEE Intelligent Vehicles Symposium, Jun 2012, Alcala de Henares, Madrid, Spain. 2012
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https://hal.inria.fr/hal-00732930
Contributeur : Joshué Pérez Rastelli <>
Soumis le : lundi 1 octobre 2012 - 13:42:54
Dernière modification le : vendredi 25 mai 2018 - 12:02:03
Document(s) archivé(s) le : mercredi 2 janvier 2013 - 03:55:36

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  • HAL Id : hal-00732930, version 1

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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. 2012. 〈hal-00732930〉

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