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Safe Vehicle Navigation in Dynamic Urban Environments: A Hierarchical Approach

Abstract : This paper describes the deliberative part of a navigation architecture designed for safe vehicle navigation in dynamic urban environments. It comprises two key modules working together in a hierarchical fashion: (a) the Route Plan- ner whose purpose is to compute a valid itinerary towards the a given goal. An itinerary comprises a geometric path augmented with additional information based on the structure of the environment considered and traffic regulations, and (b) the Partial Motion Planner whose purpose is to ensure the proper following of the itinerary while dealing with the moving objects present in the environment (eg other vehicles, pedestrians). In the architecture proposed, a special attention is paid to the motion safety issue, ie the ability to avoid collisions. Different safety levels are explored and their operational conditions are explicitly spelled out (something which is usually not done).
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Conference papers
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Contributor : Thierry Fraichard Connect in order to contact the contributor
Submitted on : Wednesday, July 30, 2008 - 1:50:03 PM
Last modification on : Thursday, January 20, 2022 - 5:27:13 PM
Long-term archiving on: : Saturday, November 26, 2016 - 1:01:37 AM


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  • HAL Id : inria-00308454, version 1



Kristijan Macek, Dizan Alejandro Vasquez Govea, Thierry Fraichard, Roland Siegwart. Safe Vehicle Navigation in Dynamic Urban Environments: A Hierarchical Approach. IROS Workshop on Planning, Perception and Navigation for Intelligent Vehicles, Sep 2008, Nice, France. ⟨inria-00308454⟩



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