Path Planning, Replanning and Execution for Autonomous Driving in Urban and Offroad Environments (CROSBI ID 530483)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Philippsen, Roland ; Kolski, Sascha ; Macek, Kristijan ; Siegwart, Roland
engleski
Path Planning, Replanning and Execution for Autonomous Driving in Urban and Offroad Environments
We present an autonomous driving system that is capable of planning, replanning, and executing paths for driving in urban and offroad environments. This work is based on prior experience with the SmartTer vehicle, which we are in the process of updating. For planning, we rely on the E* algorithm which computes a smooth navigation function that takes into account traversability information that is deduced from laser scans. The path execution algorithm is centered around a kinodynamic controller which follows the gradient of the navigation function.
Path planning; path following; kinodynamic control
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Podaci o prilogu
6 pages-x.
2007.
objavljeno
Podaci o matičnoj publikaciji
Proceedings of teh 2007 IEEE International Conference on Robotics and Automation, Workshop on Planning, Perception and Navigation for Intelligent Vehicles (PPNIV)
Rim
Lahti: Institute of Electrical and Electronics Engineers (IEEE)
Podaci o skupu
2007 IEEE International Conference on Robotics and Automation, Workshop on Planning, Perception and Navigation for Intelligent Vehicles (PPNIV)
predavanje
10.04.2007-14.04.2007
Rim, Italija
