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Title

Path and speed planning for smooth autonomous navigation

AuthorsVillagrá, Jorge ; Milanés, Vicente ; Pérez Rastelli, Joshué Manuel ; Godoy, Jorge
Issue Date7-Jun-2012
PublisherInstitute of Electrical and Electronics Engineers
CitationJorge Villagra, Vicente Milanés, Joshué Pérez Rastelli, Jorge Godoy, Enrique Onieva. Path and speed planning for smooth autonomous navigation. IV 2012 - IEEE Intelligent Vehicles Symposium, Jun 2012, Alcala de Henares, Madrid, Spain. https://hal.inria.fr/hal-00732930
AbstractThis paper presents a path and speed planner for automated vehicles in unstructured environments. A global path planner has been designed with bounded continuous curvature and bounded curvature derivative to ensure smooth driving. This will allow the vehicle to know a priori which is the shortest path within a selected area that guarantees lateral accelerations and steering wheel speeds below given pre-set thresholds. A closed-form speed profiler uses semantic information provided by the path planner to set a continuous velocity reference that takes into account bounds on lateral and longitudinal accelerations consistent with comfort. The suitability of the above two features was compared to manual driving in a real instrumented vehicle on a test track.
Description13 de diciembre de 2012
URIhttp://hdl.handle.net/10261/109898
Appears in Collections:(CAR) Comunicaciones congresos
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