Automotive Control Systems: For Engine, Driveline and Vehicle
Automotive Control Systems: For Engine, Driveline and Vehicle
A Discrete Method for Time-Optimal Motion Planning of a Class of Mobile Robots
Journal of Intelligent and Robotic Systems
Path Planning for Autonomous Vehicles in Unknown Semi-structured Environments
International Journal of Robotics Research
An analytical continuous-curvature path-smoothing algorithm
IEEE Transactions on Robotics
From Reeds and Shepp's to continuous-curvature paths
IEEE Transactions on Robotics
Quintic G2-splines for the iterative steering of vision-based autonomous vehicles
IEEE Transactions on Intelligent Transportation Systems
| Hi-index | 0.00 |
This paper presents a path and speed planner for automated public transport vehicles in unstructured environments. Since efficiency and comfort are two of the key issues in promoting this kind of transportation system, they are dealt with explicitly in the proposed planning algorithm. To that end, a global path planner has been designed with bounded continuous curvature and bounded curvature derivative to ensure smooth driving. This will allow the public transport system to know a priori which is the shortest path within a selected area that guarantees lateral accelerations and steering wheel speeds below given pre-set thresholds. A closed-form speed profiler uses semantic information provided by the path planner to set a continuous velocity reference that takes into account not only bounds on lateral and longitudinal accelerations consistent with comfort, but also a bound on longitudinal jerk. The suitability of the above two features was compared to manual driving in a real instrumented public transport vehicle on a test track.