Approximating reference trajectories for autonomous vehicles using motion primitives
Autor(en): | Scheuren, S. Stiene, S. Hartanto, R. Hertzberg, J. |
Stichwörter: | Navigation; Trajectories, Collision-free; Motion primitives; Reference trajectories; State of the art, Autonomous vehicles | Erscheinungsdatum: | 2012 | Herausgeber: | Kluwer Academic Publishers | Journal: | Informatik aktuell | Startseite: | 109 | Seitenende: | 117 | Zusammenfassung: | In this paper we describe an approach for validating and adapting a reference trajectory of an autonomous vehicle. It is assumed that the generation of the reference trajectory guarantees the approximation to be collision free if it stays within a tolerance area. We employ a precomputed set of motion primitives as used in state-of-the-art path planning libraries. The generated path is smooth and feasible. Two applications are presented, which have motivated the development of the approach. © 2012 Springer-Verlag Berlin Heidelberg. |
Beschreibung: | Conference of 22nd conference on Autonomous Mobile Systems, AMS 2012 ; Conference Date: 26 September 2012 Through 28 September 2012; Conference Code:101220 |
ISBN: | 9783642322167 | ISSN: | 1431472X | DOI: | 10.1007/978-3-642-32217-4_12 | Externe URL: | https://www.scopus.com/inward/record.uri?eid=2-s2.0-84890027761&doi=10.1007%2f978-3-642-32217-4_12&partnerID=40&md5=07544ba39eddcacac094c5d55de3ba6d |
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geprüft am 01.06.2024