NDLI: Motion Planning for Car-Like Vehicles in Dynamic Urban Scenarios

Content Provider	IEEE Xplore Digital Library
Author	Macek, K. Becked, M. Siegwart, R.
Copyright Year	2006
Description	Author affiliation: Swiss Fed. Inst. of Technol., Zurich (Macek, K.)
Abstract	This paper focuses on development of a motion planning strategy for car-like vehicles in dynamic urban-like scenarios. The strategy can be summarized as a search for a collision-free trajectory among linearly moving obstacles applying rapidly-exploring random trees (RRT) and B-splines. Collision avoidance is based on geometric search in transformed state space of chained form kinematic model decomposition. The time criterion for avoiding obstacles is based on relative robot to obstacle motion and is checked iteratively for possible collisions within the RRT exploration phase. The line segment geometric path is interpolated with a B-spline curve in order to generate a feasible trajectory that takes into account nonholonomic constraints. The exploration strategy aims at finding an optimal steering and longitudinal control of the vehicle in minimum time and steering activity sense. In order to test the strategy a MatLab based simulator was developed. This simulator reproduces a simple 2D urban-like environment with parked and moving cars, buses, trucks, people, buildings, streets, and trees. The test vehicle, a modified smart car equipped with several sensors was kinematically modeled. The sensor data are extracted from the environment based on its geometrical description and used as input data for the motion planning strategy which was verified in a dynamic urban scenario simulation
Starting Page	4375
Ending Page	4380
File Size	1257996
Page Count	6
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.282013
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Urban planning Vehicle dynamics Strategic planning Spline Testing Intelligent sensors Collision avoidance State-space methods Kinematics Orbital robotics
Content Type	Text
Resource Type	Article

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