Naslov
Path Planning, Replanning and Execution for Autonomous Driving in Urban and Offroad Environments

Autori
Philippsen, Roland ; Kolski, Sascha ; Macek, Kristijan ; Siegwart, Roland

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of teh 2007 IEEE International Conference on Robotics and Automation, Workshop on Planning, Perception and Navigation for Intelligent Vehicles (PPNIV) / Rim - Lahti : Institute of Electrical and Electronics Engineers (IEEE), 2007

Skup
2007 IEEE International Conference on Robotics and Automation, Workshop on Planning, Perception and Navigation for Intelligent Vehicles (PPNIV)

Mjesto i datum
Rim, Italija, 10.04.2007. - 14.04.2007

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Path planning; path following; kinodynamic control

Sažetak
We present an autonomous driving system that is capable of planning, replanning, and executing paths for driving in urban and offroad environments. This work is based on prior experience with the SmartTer vehicle, which we are in the process of updating. For planning, we rely on the E* algorithm which computes a smooth navigation function that takes into account traversability information that is deduced from laser scans. The path execution algorithm is centered around a kinodynamic controller which follows the gradient of the navigation function.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti

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