On-line reference trajectory generation for manually convoying a platoon of automatic urban vehicles
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Spatiotemporal state lattices for fast trajectory planning in dynamic on-road driving scenarios
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Comparison of optimal solutions to real-time path planning for a mobile vehicle
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
Smooth path and speed planning for an automated public transport vehicle
Robotics and Autonomous Systems
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This paper presents a new motion planning primitive to be used for the iterative steering of vision-based autonomous vehicles. This primitive is a parameterized quintic spline, denoted as η-spline, that allows interpolating an arbitrary sequence of points with overall second-order geometric (G2-) continuity. Issues such as completeness, minimality, regularity, symmetry, and flexibility of these G2-splines are addressed in the exposition. The development of the new primitive is tightly connected to the inversion control of nonholonomic car-like vehicles. The paper also exposes a supervisory strategy for iterative steering that integrates feedback vision data processing with the feedforward inversion control