Parametric Continuous Curvature Path for Smooth Steering with the Car-like Vehicles

Abstract : This paper proposes a solution to obtain parametric continuous curvature path for nonholonomic car-like vehicle and addresses also efficient algorithm to obtain an appropriate reference path for smooth path following. As a local planner using parametrically adjustable clothoid, the proposed solution, of constant sharpness, permits to obtain continuous curvature and thus smooth steering behavior of the vehicle which enhances the passenger comfort. The proposed parametric continuous curvature path is integrated in a global planner which includes an appropriate way of isolating the boundary conditions of each local planner. This last characteristic is useful to reconstruct a smooth reference path from raw data of actual vehicle trajectory. The solution is applied to a real road datasets and tested using Lyapunov based controller for validating the effectiveness on path following performance. The simulated results show reliable and enhanced performance for vehicle path following when the proposed algorithms are used.
Type de document :
Communication dans un congrès
13th International Conference on Intelligent Autonomous System (IAS-13), Jul 2014, Padova, Italy
Liste complète des métadonnées

Littérature citée [23 références]  Voir  Masquer  Télécharger

https://hal.archives-ouvertes.fr/hal-01712934
Contributeur : Lounis Adouane <>
Soumis le : vendredi 23 février 2018 - 00:52:21
Dernière modification le : mercredi 31 octobre 2018 - 17:42:02
Document(s) archivé(s) le : jeudi 24 mai 2018 - 15:53:59

Fichier

2014_GIM_IAS.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

  • HAL Id : hal-01712934, version 1

Citation

Suhyeon Gim, Lounis Adouane, Sukhan Lee, Jean-Pierre Derutin. Parametric Continuous Curvature Path for Smooth Steering with the Car-like Vehicles. 13th International Conference on Intelligent Autonomous System (IAS-13), Jul 2014, Padova, Italy. 〈hal-01712934〉

Partager

Métriques

Consultations de la notice

137

Téléchargements de fichiers

154