Global and Local Path Planning Study in a ROS-Based Research Platform for Autonomous Vehicles
Joint Authors
Hussein, Ahmed
Marín-Plaza, Pablo
Martin, David
Escalera, Arturo de la
Source
Journal of Advanced Transportation
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-02-22
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
The aim of this work is to integrate and analyze the performance of a path planning method based on Time Elastic Bands (TEB) in real research platform based on Ackermann model.
Moreover, it will be proved that all modules related to the navigation can coexist and work together to achieve the goal point without any collision.
The study is done by analyzing the trajectory generated from global and local planners.
The software prototyping tool is Robot Operating System (ROS) from Open Source Robotics Foundation and the research platform is the iCab (Intelligent Campus Automobile) from University Carlos III.
This work has been validated from a test inside the campus where the iCab has performed the navigation between the starting point and the goal point without any collision.
During the experiment, we proved the low sensitivity of the TEB method to variations of the vehicle model configuration and constraints.
American Psychological Association (APA)
Marín-Plaza, Pablo& Hussein, Ahmed& Martin, David& Escalera, Arturo de la. 2018. Global and Local Path Planning Study in a ROS-Based Research Platform for Autonomous Vehicles. Journal of Advanced Transportation،Vol. 2018, no. 2018, pp.1-10.
https://search.emarefa.net/detail/BIM-1181530
Modern Language Association (MLA)
Marín-Plaza, Pablo…[et al.]. Global and Local Path Planning Study in a ROS-Based Research Platform for Autonomous Vehicles. Journal of Advanced Transportation No. 2018 (2018), pp.1-10.
https://search.emarefa.net/detail/BIM-1181530
American Medical Association (AMA)
Marín-Plaza, Pablo& Hussein, Ahmed& Martin, David& Escalera, Arturo de la. Global and Local Path Planning Study in a ROS-Based Research Platform for Autonomous Vehicles. Journal of Advanced Transportation. 2018. Vol. 2018, no. 2018, pp.1-10.
https://search.emarefa.net/detail/BIM-1181530
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1181530