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Journal Articles IEEE Access Year : 2020

A Two-Stage Real-Time Path Planning : Application to the Overtaking Manuever

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Fernando Garrido
  • Function : Author
  • PersonId : 1085563
Leonardo González
  • Function : Author
  • PersonId : 1085564
Vicente Milanés
  • Function : Author
  • PersonId : 1024109
Joshué Pérez
  • Function : Author
  • PersonId : 1085565

Abstract

This paper proposes a two-stage local path planning approach to deal with all kinds of scenarios (i.e. intersections, turns, roundabouts). The first stage carries out an off-line optimization , considering vehicle kinematics and road constraints. The second stage includes all dynamic obstacles in the scene, generating a continuous path in real-time. Human-like driving style is provided by evaluating the sharpness of the road bends and the available space among them, optimizing the drivable area. The proposed approach is validated on overtaking scenarios where real-time path planning generation plays a key role. Simulation and real results on an experimental automated platform provide encouraging results, generating real-time collision-free paths while maintaining the defined smoothness criteria.
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Dates and versions

hal-03058689 , version 1 (11-12-2020)

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Fernando Garrido, Leonardo González, Vicente Milanés, Joshué Pérez, Fawzi Nashashibi. A Two-Stage Real-Time Path Planning : Application to the Overtaking Manuever. IEEE Access, 2020, ⟨10.1109/ACCESS.2020.3008374⟩. ⟨hal-03058689⟩
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