Naslov
Towards Safe Vehicle Navigation in Dynamic Urban Scenarios

Autori
Maček, Kristijan ; Vasquez, Dizan ; Fraichard, Thierry ; Sigwart, Roland

Izvornik
Automatika : časopis za automatiku, mjerenje, elektroniku, računarstvo i komunikacije (0005-1144) 50 (2009), 3-4; 184-194

Vrsta, podvrsta i kategorija rada
Radovi u časopisima, članak, znanstveni

Ključne riječi
Motion planning; Dynamic environment; Motion safety; Urban navigation

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 Planner 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 traffic 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
Temeljne tehničke znanosti

POVEZANOST RADA