SMOOTH TRAJECTORY PLANNING FOR FULLY AUTOMATED PASSENGERS VEHICLES - Spline and Clothoid based Methods and its Simulation

Larissa Labakhua, Urbano Nunes, Rui Rodrigues, Fátima S. Leite

Abstract

A new approach for mobility, providing an alternative to the private passenger car, by offering the same flexibility but with much less nuisances, is emerging, based on fully automated electric vehicles. A fleet of such vehicles might be an important element in a novel individual, door-to-door, transportation system to the city of tomorrow. For fully automated operation, trajectory planning methods that produce smooth trajectories, with low associated accelerations and jerk, for providing passenger´s comfort, are required. This paper addresses this problem proposing an approach that consists of introducing a velocity planning stage to generate adequate time sequences for usage in the interpolating curve planners. Moreover, the generated speed profile can be merged into the trajectory for usage in trajectory-tracking tasks like it is described in this paper, or it can be used separately (from the generated 2D curve) for usage in path-following tasks. Three trajectory planning methods, aided by the speed profile planning, are analysed from the point of view of passengers' comfort, implementation easiness, and trajectory tracking.

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Paper Citation


in Harvard Style

Labakhua L., Nunes U., Rodrigues R. and S. Leite F. (2006). SMOOTH TRAJECTORY PLANNING FOR FULLY AUTOMATED PASSENGERS VEHICLES - Spline and Clothoid based Methods and its Simulation . In Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-972-8865-60-3, pages 89-96. DOI: 10.5220/0001205700890096


in Bibtex Style

@conference{icinco06,
author={Larissa Labakhua and Urbano Nunes and Rui Rodrigues and Fátima S. Leite},
title={SMOOTH TRAJECTORY PLANNING FOR FULLY AUTOMATED PASSENGERS VEHICLES - Spline and Clothoid based Methods and its Simulation},
booktitle={Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2006},
pages={89-96},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001205700890096},
isbn={978-972-8865-60-3},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - SMOOTH TRAJECTORY PLANNING FOR FULLY AUTOMATED PASSENGERS VEHICLES - Spline and Clothoid based Methods and its Simulation
SN - 978-972-8865-60-3
AU - Labakhua L.
AU - Nunes U.
AU - Rodrigues R.
AU - S. Leite F.
PY - 2006
SP - 89
EP - 96
DO - 10.5220/0001205700890096