Trajectory generator for autonomous vehicles in urban environments

Joshue Perez; Jorge Godoy; Jorge Villagra; Enrique Onieva

doi:10.1109/ICRA.2013.6630608

Trajectory generator for autonomous vehicles in urban environments

Joshue Perez
, Jorge Godoy
, Jorge Villagra
, Enrique Onieva

Institut national de recherche en informatique et en automatique
Consejo Superior de Investigaciones Científicas (CSIC)
University of Deusto

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

69 Citations (Scopus)

Abstract

Nowadays, some developments in the vehicle industry permit a safe and comfortable driving. However, several manufactures and research groups are still working in the improvement of the control strategies and path smoothing algorithms. In this paper, a new trajectory generation approach for autonomous vehicles in urban scenarios, considering parametric equations, is proposed. An algorithm that considers Bezier curves and circumference parametric equations for a real vehicle, specifically in roundabout and urban intersections is presented. This approach is generated in real time and can be adapted to dynamic changes in the route. A smooth trajectory generator computationally efficient and easily implementable is proposed. Moreover, this new trajectory generator reduces the control actions, generated with to a fuzzy controller. Some trials have been performed in an urban circuit with promising performance.

Original language	English
Title of host publication	2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Pages	409-414
Number of pages	6
DOIs	https://doi.org/10.1109/ICRA.2013.6630608
Publication status	Published - 2013
Externally published	Yes
Event	2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe, Germany Duration: 6 May 2013 → 10 May 2013

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Country/Territory	Germany
City	Karlsruhe
Period	6/05/13 → 10/05/13

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 11 Sustainable Cities and Communities

Access to Document

10.1109/ICRA.2013.6630608

Cite this

@inproceedings{90dedb9212814999a534a183f85b0a77,

title = "Trajectory generator for autonomous vehicles in urban environments",

abstract = "Nowadays, some developments in the vehicle industry permit a safe and comfortable driving. However, several manufactures and research groups are still working in the improvement of the control strategies and path smoothing algorithms. In this paper, a new trajectory generation approach for autonomous vehicles in urban scenarios, considering parametric equations, is proposed. An algorithm that considers Bezier curves and circumference parametric equations for a real vehicle, specifically in roundabout and urban intersections is presented. This approach is generated in real time and can be adapted to dynamic changes in the route. A smooth trajectory generator computationally efficient and easily implementable is proposed. Moreover, this new trajectory generator reduces the control actions, generated with to a fuzzy controller. Some trials have been performed in an urban circuit with promising performance.",

author = "Joshue Perez and Jorge Godoy and Jorge Villagra and Enrique Onieva",

year = "2013",

doi = "10.1109/ICRA.2013.6630608",

language = "English",

isbn = "9781467356411",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

pages = "409--414",

booktitle = "2013 IEEE International Conference on Robotics and Automation, ICRA 2013",

note = "2013 IEEE International Conference on Robotics and Automation, ICRA 2013 ; Conference date: 06-05-2013 Through 10-05-2013",

}

Perez, J, Godoy, J, Villagra, J & Onieva, E 2013, Trajectory generator for autonomous vehicles in urban environments. in 2013 IEEE International Conference on Robotics and Automation, ICRA 2013., 6630608, Proceedings - IEEE International Conference on Robotics and Automation, pp. 409-414, 2013 IEEE International Conference on Robotics and Automation, ICRA 2013, Karlsruhe, Germany, 6/05/13. https://doi.org/10.1109/ICRA.2013.6630608

Trajectory generator for autonomous vehicles in urban environments. / Perez, Joshue; Godoy, Jorge; Villagra, Jorge et al.
2013 IEEE International Conference on Robotics and Automation, ICRA 2013. 2013. p. 409-414 6630608 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Trajectory generator for autonomous vehicles in urban environments

AU - Perez, Joshue

AU - Godoy, Jorge

AU - Villagra, Jorge

AU - Onieva, Enrique

PY - 2013

Y1 - 2013

N2 - Nowadays, some developments in the vehicle industry permit a safe and comfortable driving. However, several manufactures and research groups are still working in the improvement of the control strategies and path smoothing algorithms. In this paper, a new trajectory generation approach for autonomous vehicles in urban scenarios, considering parametric equations, is proposed. An algorithm that considers Bezier curves and circumference parametric equations for a real vehicle, specifically in roundabout and urban intersections is presented. This approach is generated in real time and can be adapted to dynamic changes in the route. A smooth trajectory generator computationally efficient and easily implementable is proposed. Moreover, this new trajectory generator reduces the control actions, generated with to a fuzzy controller. Some trials have been performed in an urban circuit with promising performance.

AB - Nowadays, some developments in the vehicle industry permit a safe and comfortable driving. However, several manufactures and research groups are still working in the improvement of the control strategies and path smoothing algorithms. In this paper, a new trajectory generation approach for autonomous vehicles in urban scenarios, considering parametric equations, is proposed. An algorithm that considers Bezier curves and circumference parametric equations for a real vehicle, specifically in roundabout and urban intersections is presented. This approach is generated in real time and can be adapted to dynamic changes in the route. A smooth trajectory generator computationally efficient and easily implementable is proposed. Moreover, this new trajectory generator reduces the control actions, generated with to a fuzzy controller. Some trials have been performed in an urban circuit with promising performance.

UR - https://www.scopus.com/pages/publications/84887291947

U2 - 10.1109/ICRA.2013.6630608

DO - 10.1109/ICRA.2013.6630608

M3 - Conference contribution

AN - SCOPUS:84887291947

SN - 9781467356411

T3 - Proceedings - IEEE International Conference on Robotics and Automation

SP - 409

EP - 414

BT - 2013 IEEE International Conference on Robotics and Automation, ICRA 2013

T2 - 2013 IEEE International Conference on Robotics and Automation, ICRA 2013

Y2 - 6 May 2013 through 10 May 2013

ER -

Trajectory generator for autonomous vehicles in urban environments

Abstract

Publication series

Conference

UN SDGs

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