TY - GEN
T1 - Continuous curvature planning with obstacle avoidance capabilities in urban scenarios
AU - González, David
AU - Pérez, Joshue
AU - Lattarulo, Ray
AU - Milanés, Vicente
AU - Nashashibi, Fawzi
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/11/14
Y1 - 2014/11/14
N2 - This paper presents a continuous curvature planning algorithm with obstacle avoidance capabilities. The automated system generates a collision free path that considers vehicle's constraints, the road and different obstacles inside the horizon of view. The developed planning module was integrated in the RITS (former IMARA) autonomous vehicle architecture. The goal of this module is to obtain an accurate, continuous and safe path generation, by implementing parametric curves. To this end, a continuous curvature profile when calculating vehicle trajectory is introduced. It also permits to generate different speed profiles, improving the comfort by reducing lateral accelerations in the driving process. These algorithms have been implemented in simulated -ProSiVIC- and real platforms -Cybercars- showing good results in both cases. This approach is currently being implemented in the framework of the EU CityMobil2 project.
AB - This paper presents a continuous curvature planning algorithm with obstacle avoidance capabilities. The automated system generates a collision free path that considers vehicle's constraints, the road and different obstacles inside the horizon of view. The developed planning module was integrated in the RITS (former IMARA) autonomous vehicle architecture. The goal of this module is to obtain an accurate, continuous and safe path generation, by implementing parametric curves. To this end, a continuous curvature profile when calculating vehicle trajectory is introduced. It also permits to generate different speed profiles, improving the comfort by reducing lateral accelerations in the driving process. These algorithms have been implemented in simulated -ProSiVIC- and real platforms -Cybercars- showing good results in both cases. This approach is currently being implemented in the framework of the EU CityMobil2 project.
UR - https://www.scopus.com/pages/publications/84937128985
U2 - 10.1109/ITSC.2014.6957887
DO - 10.1109/ITSC.2014.6957887
M3 - Conference contribution
AN - SCOPUS:84937128985
T3 - 2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014
SP - 1430
EP - 1435
BT - 2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014
Y2 - 8 October 2014 through 11 October 2014
ER -