TY - GEN
T1 - Dynamic trajectory generation using continuous-curvature algorithms for door to door assistance vehicles
AU - Rastelli, Joshue Perez
AU - Lattarulo, Ray
AU - Nashashibi, Fawzi
PY - 2014
Y1 - 2014
N2 - In this paper, an algorithm for dynamic path generation in urban environments is presented, taking into account structural and sudden changes in straight and bend segments (e.g. roundabouts and intersections). The results present some improvements in path generation (previously hand plotted) considering parametric equations and continuous-curvature algorithms, which guarantees a comfortable lateral acceleration. This work is focused on smooth and safe path generation using road and obstacle detection information. Finally, some simulation results show a good performance of the algorithm using different ranges of urban curves. The main contribution is an Intelligent Trajectory Generator, which considers infrastructure and vehicle information. This method is recently used in the framework of the project CityMobil2 1, for urban autonomous guidance of Cybercars.
AB - In this paper, an algorithm for dynamic path generation in urban environments is presented, taking into account structural and sudden changes in straight and bend segments (e.g. roundabouts and intersections). The results present some improvements in path generation (previously hand plotted) considering parametric equations and continuous-curvature algorithms, which guarantees a comfortable lateral acceleration. This work is focused on smooth and safe path generation using road and obstacle detection information. Finally, some simulation results show a good performance of the algorithm using different ranges of urban curves. The main contribution is an Intelligent Trajectory Generator, which considers infrastructure and vehicle information. This method is recently used in the framework of the project CityMobil2 1, for urban autonomous guidance of Cybercars.
UR - https://www.scopus.com/pages/publications/84905382250
U2 - 10.1109/IVS.2014.6856526
DO - 10.1109/IVS.2014.6856526
M3 - Conference contribution
AN - SCOPUS:84905382250
SN - 9781479936380
T3 - IEEE Intelligent Vehicles Symposium, Proceedings
SP - 510
EP - 515
BT - 2014 IEEE Intelligent Vehicles Symposium, IV 2004 - Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 25th IEEE Intelligent Vehicles Symposium, IV 2014
Y2 - 8 June 2014 through 11 June 2014
ER -