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Gradient Based Path Optimization Method for Autonomous Driving
Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).ORCID-id: 0000-0001-6119-6615
Carnegie Mellon University, Pittsburgh, USA.
Google Inc..ORCID-id: 0000-0003-3513-8854
ETH Zürich, Zürich, Switzerland.
Vise andre og tillknytning
2017 (engelsk)Inngår i: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), [Piscataway, NJ]: IEEE, 2017, s. 4501-4508Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

This paper discusses the possibilities of extending and adapting the CHOMP motion planner to work with a non-holonomic vehicle such as an autonomous truck with a single trailer. A detailed study has been done to find out the different ways of implementing these constraints on the motion planner. CHOMP, which is a successful motion planner for articulated robots produces very fast and collision-free trajectories. This nature is important for a local path adaptor in a multi-vehicle path planning for resolving path-conflicts in a very fast manner and hence, CHOMP was adapted. Secondly, this paper also details the experimental integration of the modified CHOMP with the sensor fusion and control system of an autonomous Volvo FH-16 truck. Integration experiments were conducted in a real-time environment with the developed autonomous truck. Finally, additional simulations were also conducted to compare the performance of the different approaches developed to study the feasibility of employing CHOMP to autonomous vehicles. ©2017 IEEE

sted, utgiver, år, opplag, sider
[Piscataway, NJ]: IEEE, 2017. s. 4501-4508
Serie
IEEE International Conference on Intelligent Robots and Systems, E-ISSN 2153-0866
Emneord [en]
Robotics, Intelligent Transportation Systems, Autonomous Vehicle Navigation, Motion and Path Planning
HSV kategori
Identifikatorer
URN: urn:nbn:se:hh:diva-34851DOI: 10.1109/IROS.2017.8206318ISBN: 978-1-5386-2682-5 (digital)ISBN: 978-1-5386-2681-8 (digital)ISBN: 978-1-5386-2683-2 (tryckt)OAI: oai:DiVA.org:hh-34851DiVA, id: diva2:1137702
Konferanse
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver CB, Canada, Sept. 24-28, 2017
Prosjekter
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Forskningsfinansiär
EU, FP7, Seventh Framework Programme, FP7-605598Tilgjengelig fra: 2017-08-31 Laget: 2017-08-31 Sist oppdatert: 2018-01-25bibliografisk kontrollert

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