A Real-Time Navigation Architecture for Automated Vehicles in Urban Environments

1 E-MOTION - Geometry and Probability for Motion and Action
GRAVIR - IMAG - Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble, Inria Grenoble - Rhône-Alpes
Abstract : This paper presents a novel navigation architecture for automated car-like vehicles in urban environments. Motion safety is a critical issue in such environments given that they are partially known and highly dynamic with moving objects (other vehicles, pedestrians). The main feature of the navigation architecture proposed is its ability to make safe motion decision in real-time, thus taking into account the harsh constraints imposed by the type of environments considered. The architecture is based upon an efficient publish/subscribe-based middleware system that allows modularity in design and the easy integration of the key functional components required for autonomous navigation: perception, localization, mapping, real-time motion planning and motion tracking. After an overall presentation of the architecture and its main modules, the paper focuses on the motion'' components of the architecture. Experimental results carried out on both a simulation platform and a Cycab vehicle in a parking environment are presented.
Document type :
Conference papers
Domain :

Cited literature [18 references]

https://hal.inria.fr/inria-00140528
Contributor : Thierry Fraichard Connect in order to contact the contributor
Submitted on : Friday, April 6, 2007 - 4:10:41 PM
Last modification on : Monday, December 28, 2020 - 3:44:02 PM
Long-term archiving on: : Tuesday, April 6, 2010 - 10:48:12 PM

File

IV2007_0231_FI.pdf
Files produced by the author(s)

Identifiers

• HAL Id : inria-00140528, version 1

Citation

Gang Chen, Thierry Fraichard. A Real-Time Navigation Architecture for Automated Vehicles in Urban Environments. IEEE Intelligent Vehicles Symposium, Jun 2007, Istanbul (TR). ⟨inria-00140528⟩

Record views