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From autonomous navigation to platooning in urban context


In this paper, the problem of autonomous navigation is addressed starting from the use of RTK-GPS until the use of vision as the main sensor. Using a decoupling strategy, it is possible to control separately lateral and longitudinal control in trajectory following tasks. Recent advances in vision, make possible to localize an urban vehicle in regard with a previously recorded trajectory. The concept of sensory memory (GPS, Vision), which tra-duces the learnt trajectory, is introduced and used to guide autonomously the vehicle. Then, an extension to vehicle platoon is described. Different kind of longitudinal control strategies are discussed : from a near to near approach, to a global strategy. Finally, in order to manage different kind of scenario which occur in a platoon context, a monitoring module is developed. All theses aspects are currently addressed through the BODEGA (ROBEA-CNRS national interdisciplinary research program) and MOBIVIP (PREDIT3 national research program) projects.


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hal-02467473 , version 1 (05-02-2020)


  • HAL Id : hal-02467473 , version 1


Philippe Martinet, Benoît Thuilot, Jonathan Bom. From autonomous navigation to platooning in urban context. IARP-Workshop on Adaptive and Intelligent Robots : Present and Future, Russian Academy of Sciences, Nov 2005, Moscou, Russia. pp.1-9. ⟨hal-02467473⟩
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