Smooth Trajectory Generation with 4D Space Analysis for Dynamic Obstacle Avoidance

Suhyeon Gim, Lounis Adouane, Sukhan Lee, Jean-Pierre Derutin

Abstract

This paper presents smooth trajectory generation scheme for obstacle avoidance in static and dynamic environment. The smooth trajectory has successive two steps where smooth path is generated firstly and then corresponding velocity is planned along the path. Smooth path of continuous curvature is composed by parametrically adjusted clothoids with proposed algorithm and then the safe velocity planning is carried out in the 4D configuration framework. Two circles are used to completely surround the used nonholonomic car-like vehicle, this permit to check the probable future vehicle's collisions and to have space-time analysis. Some demonstrative simulations show the strong potential of the proposed smooth and flexible methodology for future experimentations with actual vehicles.

References

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Paper Citation


in Harvard Style

Gim S., Adouane L., Lee S. and Derutin J. (2014). Smooth Trajectory Generation with 4D Space Analysis for Dynamic Obstacle Avoidance . In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: IVC&ITS, (ICINCO 2014) ISBN 978-989-758-040-6, pages 802-809. DOI: 10.5220/0005148808020809


in Bibtex Style

@conference{ivc&its14,
author={Suhyeon Gim and Lounis Adouane and Sukhan Lee and Jean-Pierre Derutin},
title={Smooth Trajectory Generation with 4D Space Analysis for Dynamic Obstacle Avoidance},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: IVC&ITS, (ICINCO 2014)},
year={2014},
pages={802-809},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005148808020809},
isbn={978-989-758-040-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: IVC&ITS, (ICINCO 2014)
TI - Smooth Trajectory Generation with 4D Space Analysis for Dynamic Obstacle Avoidance
SN - 978-989-758-040-6
AU - Gim S.
AU - Adouane L.
AU - Lee S.
AU - Derutin J.
PY - 2014
SP - 802
EP - 809
DO - 10.5220/0005148808020809