comunitat-uji-handle:10234/9
comunitat-uji-handle2:10234/7035
comunitat-uji-handle3:10234/8617
comunitat-uji-handle4:
INVESTIGACION
Abstract
Email
Print
Request Permissions
In this paper, a general formulation of a predictive and multirate (MR) reactive planning method for intelligent vehicles (IVs) is introduced. The method handles path planning and ... [+]
Email
Print
Request Permissions
In this paper, a general formulation of a predictive and multirate (MR) reactive planning method for intelligent vehicles (IVs) is introduced. The method handles path planning and trajectory planning for IVs in dynamic environments with uncertainty, in which the kinodynamic vehicle constraints are also taken into account. It is based on the potential field projection method (PFP), which combines the classical potential field (PF) method with the MR Kalman filter estimation. PFP takes into account the future object trajectories and their associated uncertainties, which makes it different from other look-ahead approaches. Here, a new PF is included in the Lagrange-Euler formulation in a natural way, accounting for the vehicle dynamics. The resulting accelerations are translated into control inputs that are considered in the estimation process. This leads to the generation of a local trajectory in real time (RT) that fully meets the constraints imposed by the kinematic and dynamic models of the IV. The properties of the method are demonstrated by simulation with MATLAB and C++ applications. Very good performance and execution times are achieved, even in challenging situations. In a scenario with 100 obstacles, a local trajectory is obtained in less than 1 s, which is suitable for RT applications. [-]
Rights
© 2014 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.
"This work has been submitted to the IEEE for possible publication. Copyright may be transferred without notice, after which this version may no longer be accessible"
info:eu-repo/semantics/openAccess