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Automatic Camera and Kinematic Calibration of a Complex Service Robot Read chapter Read first chapter

2012 | OriginalPaper | Chapter

Approximating Reference Trajectories for Autonomous Vehicles Using Motion Primitives

Authors : Stephan Scheuren, Stefan Stiene, Ronny Hartanto, Joachim Hertzberg

Published in: Autonomous Mobile Systems 2012

Publisher: Springer Berlin Heidelberg

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Abstract

In this paper we describe an approach for validating and adapting a reference trajectory of an autonomous vehicle. It is assumed that the generation of the reference trajectory guarantees the approximation to be collision free if it stays within a tolerance area. We employ a precomputed set of motion primitives as used in state-of-the-art path planning libraries. The generated path is smooth and feasible. Two applications are presented, which have motivated the development of the approach.

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previous chapter On-line Trajectory Generation for Safe and Optimal Vehicle Motion Planning
next chapter Development of a Real-Time Decision-Making System for Certifiable Autonomous Unmanned Systems
Literature
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Scheuren, S., Stiene, S., Hartanto, R., Hertzberg, J., Reinecke, M.: The Problem of Spatio-temporally Constrained Motion Planning for Cooperative Vehicles. In: Proceedings of Workshop Planen 26, Scheduling und Konfigurieren, Entwerfen (PuK2011), Oct 2011
Wilde, D.K.: Computing Clothoid Segments for Trajectory Generation. In: Proceeding of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009), pp. 2440–2445. 2009
Yang, K., Sukkarieh, S.: 3D smooth path planning for a UAV in cluttered natural environments. In: Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2008), pp. 794–800. 2008
Metadata
Title
Approximating Reference Trajectories for Autonomous Vehicles Using Motion Primitives
Authors
Stephan Scheuren
Stefan Stiene
Ronny Hartanto
Joachim Hertzberg
Copyright Year
2012
Publisher
Springer Berlin Heidelberg
Book
Autonomous Mobile Systems 2012

Print ISBN: 978-3-642-32216-7

Electronic ISBN: 978-3-642-32217-4

Copyright Year: 2012

DOI
https://doi.org/10.1007/978-3-642-32217-4_12

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