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Título

Path and velocity trajectory selection in an anticipative kinodynamic motion planner for autonomous driving

AutorPérez Talamino, Jordi; Sanfeliu, Alberto
Palabras claveAutonomous driving
Velocity profiles
Urban
Kinodynamic motion planning
G2 -splines
Anticipation
Path planning
Fecha de publicación2017
EditorSpringer Nature
CitaciónROBOT 2017: Third Iberian Robotics Conference: 434-445 (2017)
SerieAdvances in Intelligent Systems and Computing 693
ResumenThis paper presents an approach for plan generation, seletion and pruning of trajectories for autonomous driving, capable of dealing with dynamic complex environments, such as driving in urban scenarios. The planner rst discretizes the plan space and searches for the best trajectory and velocity prole of the vehicle. The main contributions of this work are the use of G2-splines for path generation and a method that takes into account accelerations and passenger comfort for generating and pruning velocity profiles based on 3rd order splines, both fulfilling kino-dynamic constraints. The proposed methods have been implemented in a motion planner in MATLAB and tested through simulation in different representative scenarios, involving obstacles and other moving vehicles. The simulations show that the planner performs correctly in different dynamic scenarios, maintaining the passenger comfort.
DescripciónTrabajo presentado a la Third Iberian Robotics Conference, celebrada en Sevilla del 22 al 24 de noviembre de 2017.
URIhttp://hdl.handle.net/10261/168303
Identificadoresdoi: 10.1007/978-3-319-70836-2_36
isbn: 978-3-319-70832-4
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