Autonomous Path Planning for Road Vehicles in Narrow Environments: An Efficient Continuous Curvature Approach
المؤلفون المشاركون
المصدر
Journal of Advanced Transportation
العدد
المجلد 2017، العدد 2017 (31 ديسمبر/كانون الأول 2017)، ص ص. 1-27، 27ص.
الناشر
Hindawi Publishing Corporation
تاريخ النشر
2017-10-31
دولة النشر
مصر
عدد الصفحات
27
التخصصات الرئيسية
الملخص EN
In this paper we introduce a novel method for obtaining good quality paths for autonomous road vehicles (e.g., cars or buses) in narrow environments.
There are many traffic situations in urban scenarios where nontrivial maneuvering in narrow places is necessary.
Navigating in cluttered parking lots or having to avoid obstacles blocking the way and finding a detour even in narrow streets are challenging, especially if the vehicle has large dimensions like a bus.
We present a combined approximation-based approach to solve the path planning problem in such situations.
Our approach consists of a global planner which generates a preliminary path consisting of straight and turning-in-place primitives and a local planner which is used to make the preliminary path feasible to car-like vehicles.
The approximation methodology is well known in the literature; however, both components proposed in this paper differ from existing similar planning methods.
The approximation process with the proposed local planner is proven to be convergent for any preliminary global paths.
The resulting path has continuous curvature which renders our method well suited for application on real vehicles.
Simulation experiments show that the proposed method outperforms similar approaches in terms of path quality in complicated planning tasks.
نمط استشهاد جمعية علماء النفس الأمريكية (APA)
Kiss, Domokos& Tevesz, Gábor. 2017. Autonomous Path Planning for Road Vehicles in Narrow Environments: An Efficient Continuous Curvature Approach. Journal of Advanced Transportation،Vol. 2017, no. 2017, pp.1-27.
https://search.emarefa.net/detail/BIM-1170565
نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)
Kiss, Domokos& Tevesz, Gábor. Autonomous Path Planning for Road Vehicles in Narrow Environments: An Efficient Continuous Curvature Approach. Journal of Advanced Transportation No. 2017 (2017), pp.1-27.
https://search.emarefa.net/detail/BIM-1170565
نمط استشهاد الجمعية الطبية الأمريكية (AMA)
Kiss, Domokos& Tevesz, Gábor. Autonomous Path Planning for Road Vehicles in Narrow Environments: An Efficient Continuous Curvature Approach. Journal of Advanced Transportation. 2017. Vol. 2017, no. 2017, pp.1-27.
https://search.emarefa.net/detail/BIM-1170565
نوع البيانات
مقالات
لغة النص
الإنجليزية
الملاحظات
Includes bibliographical references
رقم السجل
BIM-1170565
قاعدة معامل التأثير والاستشهادات المرجعية العربي "ارسيف Arcif"
أضخم قاعدة بيانات عربية للاستشهادات المرجعية للمجلات العلمية المحكمة الصادرة في العالم العربي
تقوم هذه الخدمة بالتحقق من التشابه أو الانتحال في الأبحاث والمقالات العلمية والأطروحات الجامعية والكتب والأبحاث باللغة العربية، وتحديد درجة التشابه أو أصالة الأعمال البحثية وحماية ملكيتها الفكرية. تعرف اكثر