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Por favor, use este identificador para citar o enlazar a este item: http://hdl.handle.net/10261/170547
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dc.contributor.authorArtuñedo, Antonio-
dc.contributor.authorGodoy, Jorge-
dc.contributor.authorVillagrá, Jorge-
dc.date.accessioned2018-10-03T12:32:22Z-
dc.date.available2018-10-03T12:32:22Z-
dc.date.issued2017-06-11-
dc.identifierdoi: 10.1109/IVS.2017.7995820-
dc.identifier.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-
dc.identifier.urihttp://hdl.handle.net/10261/170547-
dc.description.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.-
dc.description.sponsorshipThis work has been partially funded by the Spanish of Economy and Competitiveness with the National Projects TCAP-AUTO (RTC-2015-3942-4) and NAVEGASE (DPI2014-53525-C3-1-R) and by the European ECSEL JU Initiative in the EMC2 Project (621429)-
dc.publisherInstitute of Electrical and Electronics Engineers-
dc.relationinfo:eu-repo/grantAgreement/MINECO/Plan Estatal de Investigación Científica y Técnica y de Innovación 2013-2016/RTC-2015-3942-4-
dc.relationinfo:eu-repo/grantAgreement/MINECO/Plan Estatal de Investigación Científica y Técnica y de Innovación 2013-2016/DPI2014-53525-C3-1-R-
dc.relationinfo:eu-repo/grantAgreement/EC/H2020/621429-
dc.relation.isversionofPostprint-
dc.rightsopenAccess-
dc.subjectSmooth path planning-
dc.subjecturban autonomous driving-
dc.subjectOpenStreetMaps-
dc.titleSmooth path planning for urban autonomous driving using OpenStreetMaps-
dc.typecomunicación de congreso-
dc.identifier.doi10.1109/IVS.2017.7995820-
dc.date.updated2018-10-03T12:32:24Z-
dc.description.versionPeer Reviewed-
dc.language.rfc3066eng-
dc.contributor.funderMinisterio de Economía, Industria y Competitividad (España)-
dc.contributor.funderEuropean Commission-
dc.relation.csicSí-
dc.identifier.funderhttp://dx.doi.org/10.13039/501100000780es_ES
dc.identifier.funderhttp://dx.doi.org/10.13039/501100010198es_ES
local.message.claim2024-03-20T10:47:06.598+0100|||rp15301|||submit_approve|||dc_contributor_author|||None*
dc.type.coarhttp://purl.org/coar/resource_type/c_5794es_ES
item.openairetypecomunicación de congreso-
item.grantfulltextopen-
item.cerifentitytypePublications-
item.openairecristypehttp://purl.org/coar/resource_type/c_18cf-
item.fulltextWith Fulltext-
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