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Path Planning, Replanning, and Execution for Autonomous Driving in Urban and Offroad Environments
Swiss Federal Institute of Technology Zürich, Switzerland.ORCID-id: 0000-0003-3513-8854
Swiss Federal Institute of Technology Zürich, Switzerland.
Swiss Federal Institute of Technology Zürich, Switzerland.
Swiss Federal Institute of Technology Zürich, Switzerland.
2007 (engelsk)Inngår i: Workshop on Planning, Perception and Navigation for Intelligent Vehicles, 2007, s. 6-Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

We present an autonomous driving system that iscapable of planning, replanning, and executing paths for drivingin urban and offroad environments. For planning, we rely onthe E algorithm which computes a smooth navigation functionthat takes into account traversibility information extracted fromlaser scans. The path execution algorithm is centered arounda kinodynamic controller which follows the gradient of thenavigation function. This work is based on prior experience withthe SmartTer vehicle, which we are in the process of updating,and the focus is on integration.

sted, utgiver, år, opplag, sider
2007. s. 6-
HSV kategori
Identifikatorer
URN: urn:nbn:se:hh:diva-20122OAI: oai:DiVA.org:hh-20122DiVA, id: diva2:576992
Konferanse
2007 IEEE International Conference on Robotics and Automation, ICRA 2007, 10-14 April 2007, Roma, Italy
Tilgjengelig fra: 2012-12-14 Laget: 2012-12-14 Sist oppdatert: 2018-01-12bibliografisk kontrollert

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