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Trajectory generator for autonomous vehicles in urban environments

Abstract : Nowadays, some developments in the vehicle industry permit a safe and comfortable driving. However, several manufactures and research groups are still working in the improvement of the control strategies and path smoothing algorithms. In this paper, a new trajectory generation approach for autonomous vehicles in urban scenarios, considering parametric equations, is proposed. An algorithm that considers Bezier curves and circumference parametric equations for a real vehicle, specifically in roundabout and urban intersections is presented. This approach is generated in real time and can be adapted to dynamic changes in the route. A smooth trajectory generator computationally efficient and easily implementable is proposed. Moreover, this new trajectory generator reduces the control actions, generated with to a fuzzy controller. Some trials have been performed in an urban circuit with promising performance.
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Contributor : Joshué Pérez Rastelli Connect in order to contact the contributor
Submitted on : Monday, February 18, 2013 - 5:18:40 PM
Last modification on : Thursday, February 3, 2022 - 11:16:24 AM
Long-term archiving on: : Sunday, May 19, 2013 - 4:05:21 AM


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  • HAL Id : hal-00789760, version 1



Joshué Pérez Rastelli, Jorge Godoy, Jorge Villagra, Enrique Onieva. Trajectory generator for autonomous vehicles in urban environments. IEEE ICRA - IEEE International Conference on Robotics and Automation, May 2013, Karlsruhe, European Union. ⟨hal-00789760⟩



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