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Conference Papers Year : 2012

Path and speed planning for smooth autonomous navigation

Abstract

This paper presents a path and speed planner for automated vehicles in unstructured environments. A global path planner has been designed with bounded continuous curvature and bounded curvature derivative to ensure smooth driving. This will allow the vehicle to know a priori which is the shortest path within a selected area that guarantees lateral accelerations and steering wheel speeds below given pre-set thresholds. A closed-form speed profiler uses semantic information provided by the path planner to set a continuous velocity reference that takes into account bounds on lateral and longitudinal accelerations consistent with comfort. The suitability of the above two features was compared to manual driving in a real instrumented vehicle on a test track.
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Dates and versions

hal-00732930 , version 1 (01-10-2012)

Identifiers

  • HAL Id : hal-00732930 , version 1

Cite

Jorge Villagra, Vicente Milanés, Joshué Pérez Rastelli, Jorge Godoy, Enrique Onieva. Path and speed planning for smooth autonomous navigation. IV 2012 - IEEE Intelligent Vehicles Symposium, Jun 2012, Alcala de Henares, Madrid, Spain. ⟨hal-00732930⟩
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