Naslov
Safe Navigation in Dynamic Urban Environments: a Hierarchical Approach

Autori
Macek, Kristijan ; Vasquez, Dizan ; Fraichard, Thierry ; Siegwart, Roland

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

Izvornik
Proceedings of 2008 IEEE International Conference on Intelligent RObots Systems (IROS 2008) - 2nd Workshop on Planning, Perception and Navigation for Intelligent Vehicles (PPNIV / - : Institute of Electrical and Electronics Engineers (IEEE), 2008

Skup
IEEE International Conference on Intelligent RObots Systems (IROS 2008) - 2nd Workshop on Planning, Perception and Navigation for Intelligent Vehicles (PPNIV

Mjesto i datum
Nica, Francuska, 22.09.2008. - 26.09.2008

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Vehicle Navigation; Dynamic Urban Environments; Hierarchical Planning

Sažetak
This paper describes the deliberative part of a navigation architecture designed for safe vehicle navigation in dynamic urban environments. It comprises two key modules working together in a hierarchical fashion: (a) the Route Plan- ner whose purpose is to compute a valid itinerary towards the a given goal. An itinerary comprises a geometric path augmented with additional information based on the structure of the environment considered and traf?c regulations, and (b) the Partial Motion Planner whose purpose is to ensure the proper following of the itinerary while dealing with the moving objects present in the environment (eg other vehicles, pedestrians). In the architecture proposed, a special attention is paid to the motion safety issue, ie the ability to avoid collisions. Different safety levels are explored and their operational conditions are explicitly spelled out (something which is usually not done).

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti

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