English   español  
Por favor, use este identificador para citar o enlazar a este item: http://hdl.handle.net/10261/109975
Compartir / Impacto:
Estadísticas
Add this article to your Mendeley library MendeleyBASE
Citado 25 veces en Web of Knowledge®  |  Ver citas en Google académico
Visualizar otros formatos: MARC | Dublin Core | RDF | ORE | MODS | METS | DIDL
Exportar otros formatos: Exportar EndNote (RIS)Exportar EndNote (RIS)Exportar EndNote (RIS)
Título

Smooth path and speed planning for an automated public transport vehicle

Autor Villagrá, Jorge ; Milanés, Vicente ; Pérez Rastelli, Joshué Manuel ; Godoy, Jorge
Palabras clave Flatness
Curvature
Mobile robots
Autonomous vehicles
Speed planning
Path planning
Fecha de publicación 2012
EditorElsevier
Citación Robotics and Autonomous Systems 60: 252- 265 (2012)
ResumenThis paper presents a path and speed planner for automated public transport vehicles in unstructured environments. Since efficiency and comfort are two of the key issues in promoting this kind of transportation system, they are dealt with explicitly in the proposed planning algorithm. To that end, a global path planner has been designed with bounded continuous curvature and bounded curvature derivative to ensure smooth driving. This will allow the public transport system 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 not only bounds on lateral and longitudinal accelerations consistent with comfort, but also a bound on longitudinal jerk. The suitability of the above two features was compared to manual driving in a real instrumented public transport vehicle on a test track. © 2011 Elsevier B.V. All rights reserved.
URI http://hdl.handle.net/10261/109975
DOI10.1016/j.robot.2011.11.001
ISSN0921-8890
Aparece en las colecciones: (CAR) Artículos
Ficheros en este ítem:
Fichero Descripción Tamaño Formato  
accesoRestringido.pdf15,38 kBAdobe PDFVista previa
Visualizar/Abrir
Mostrar el registro completo
 



NOTA: Los ítems de Digital.CSIC están protegidos por copyright, con todos los derechos reservados, a menos que se indique lo contrario.