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Smooth path planning for urban autonomous driving using OpenStreetMaps

AuthorsArtuñedo, Antonio ; Godoy, Jorge ; Villagrá, Jorge
KeywordsSmooth path planning
urban autonomous driving
Issue Date11-Jun-2017
PublisherInstitute of Electrical and Electronics Engineers
CitationArtuñedo, J. Godoy and J. Villagra, Smooth path planning for urban autonomous driving using OpenStreetMaps, 2017 IEEE Intelligent Vehicles Symposium (IV), Los Angeles, CA, 2017, pp. 837-842
AbstractSafe and human-like path planning in urban environments remain one of the most challenging problems for autonomous driving. This paper proposes a solution to plan traffic-free optimal and smooth paths using the most spread open source navigation data structure, OpenStreetMaps. To that end, a procedure to automatically transform raw OSM data into the drivable space is combined with a MINLP optimization algorithm that finds the most suitable position of intermediate waypoints to connect Bézier primitive curves. The proposed planner is validated in a real complex roundabout, for which very smooth paths are generated, even considering obstacles.
Identifiersdoi: 10.1109/IVS.2017.7995820
Appears in Collections:(CAR) Comunicaciones congresos
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