Skip to Main content Skip to Navigation
Conference papers

Obstacle Avoidance and Trajectory Replanification for a Group of Communicating Vehicles

Abstract : Various "Urban Transportation Systems" are currently in developing, in order to put forward solutions to congestion and pollution in dense areas. Autonomous electric vehicles in free-access can be seen as an attractive approach, in view of the large flexibility that can be expected. One instrumental functionality linked to this solution is platoon motion: several autonomous vehicles accurately follow a trajectory defined on a dedicated circulation lane, with pre-specified inter-distances. A global decentralized platoon control strategy, supported by inter-vehicle communications and relying on nonlinear control techniques is here proposed. In the nominal case, each vehicle is controlled with respect to the same smooth reference trajectory modelled by cubic B-Splines. This trajectory is locally modified and relayed on-line when a vehicle detects an obstacle. The trajectory distortion naturally reflects a driver's behaviour, since it consists in approximated clothoidal trajectories and the use of B-Splines ensures consistent connections. Experimental results, carried out with several urban vehicles, demonstrate the capabilities of the proposed approach.
Document type :
Conference papers
Complete list of metadata

Cited literature [21 references]  Display  Hide  Download
Contributor : Philippe Martinet <>
Submitted on : Thursday, February 6, 2020 - 5:15:10 AM
Last modification on : Wednesday, September 9, 2020 - 10:50:17 AM
Long-term archiving on: : Thursday, May 7, 2020 - 1:14:48 PM


Files produced by the author(s)



Pierre Avanzini, Benoit Thuilot, Philippe Martinet. Obstacle Avoidance and Trajectory Replanification for a Group of Communicating Vehicles. ITST 2009 - 9th International Conference on ITS Telecommunications, Oct 2009, Lille, France. pp.267-272, ⟨10.1109/ITST.2009.5399345⟩. ⟨hal-02468620⟩



Record views


Files downloads