Path and speed planning for smooth autonomous navigation

Jorge Villagra (1) , Vicente Milanés (2) , Joshué Pérez Rastelli (3) , Jorge Godoy (4) , Enrique Onieva (5)

1 IAI - Instituto de Automática Industrial
2 PATH
3 IMARA - Informatique, Mathématiques et Automatique pour la Route Automatisée
4 CAR - Centre for Automation and Robotics
5 UGR - Universidad de Granada = University of Granada

This paper presents a path and speed planner for automated vehicles in unstructured environments. A global path planner has been designed with bounded continuous curvature and bounded curvature derivative to ensure smooth driving. This will allow the vehicle 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 bounds on lateral and longitudinal accelerations consistent with comfort. The suitability of the above two features was compared to manual driving in a real instrumented vehicle on a test track.

Domaines: Optimisation et contrôle [math.OC]

Jorge Villagra, Vicente Milanés, Joshué Pérez Rastelli, Jorge Godoy, Enrique Onieva. Path and speed planning for smooth autonomous navigation. IV 2012 - IEEE Intelligent Vehicles Symposium, Jun 2012, Alcala de Henares, Madrid, Spain. ⟨hal-00732930⟩