hh.sePublications
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Gradient Based Path Optimization Method for Autonomous Driving
Halmstad University, School of Information Technology, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR - Center for Applied Intelligent Systems Research.ORCID iD: 0000-0001-6119-6615
Carnegie Mellon University, Pittsburgh, USA.
Google Inc.
V-ZUG.
Show others and affiliations
2017 (English)Conference paper, Published paper (Refereed)
Abstract [en]

This paper discusses the possibilities of extending and adapting the CHOMP motion planner cite{ratliff2009chomp} 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.

Place, publisher, year, edition, pages
2017.
Keyword [en]
Robotics, Intelligent Transportation Systems, Autonomous Vehicle Navigation, Motion and Path Planning
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
URN: urn:nbn:se:hh:diva-34851OAI: oai:DiVA.org:hh-34851DiVA: diva2:1137702
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver CB, Canada, Sept. 24-28, 2017
Projects
Cargo-ANTs
Available from: 2017-08-31 Created: 2017-08-31 Last updated: 2017-09-06

Open Access in DiVA

No full text

Search in DiVA

By author/editor
David, JenniferPhilippsen, RolandIagnemma, Karl
By organisation
CAISR - Center for Applied Intelligent Systems Research
Computer Vision and Robotics (Autonomous Systems)

Search outside of DiVA

GoogleGoogle Scholar

Total: 65 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf