Safe Vehicle Navigation in Dynamic Environments (CROSBI ID 550398)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Macek, Kristijan ; Vasquez, Dizan ; Fraichard, Thierry ; Siegwart, Roland
engleski
Safe Vehicle Navigation in Dynamic Environments
This paper describes the deliberative part of a navigation architecture designed for safe vehicle navigation in dynamic urban environments. It comprises two key modules working together in a hierarchical fashion: (a) the Route Plan- ner whose purpose is to compute a valid itinerary towards the a given goal. An itinerary comprises a geometric path augmented with additional information based on the structure of the environment considered and traf?c regulations, and (b) the Partial Motion Planner whose purpose is to ensure the proper following of the itinerary while dealing with the moving objects present in the environment (eg other vehicles, pedestrians). In the architecture proposed, a special attention is paid to the motion safety issue, ie the ability to avoid collisions. Different safety levels are explored and their operational conditions are explicitly spelled out (something which is usually not done).
Safe Vehicle Navigation; Dynamic Environments
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Podaci o prilogu
2008.
objavljeno
Podaci o matičnoj publikaciji
Podaci o skupu
The 11th International IEEE International Conference on Intelligent Transportation Systems (ITSC)
predavanje
12.10.2008-15.10.2008
Peking, Kina