Smooth path and speed planning for an automated public transport vehicle

This paper presents a path and speed planner for automated public transport vehicles in unstructured environments. Since efficiency and comfort are two of the key issues in promoting this kind of transportation system, they are dealt with explicitly in the proposed planning algorithm. To that end, a...

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Detalles Bibliográficos
Autores: Villagrá, Jorge, Milanés, Vicente, Pérez Rastelli, Joshué Manuel, Godoy, Jorge
Tipo de recurso: artículo
Estado:Versión enviada para evaluación y publicación
Fecha de publicación:2012
País:España
Institución:Consejo Superior de Investigaciones Científicas (CSIC)
Repositorio:DIGITAL.CSIC. Repositorio Institucional del CSIC
OAI Identifier:oai:digital.csic.es:10261/109975
Acceso en línea:http://hdl.handle.net/10261/109975
Access Level:acceso abierto
Palabra clave:Flatness
Curvature
Mobile robots
Autonomous vehicles
Speed planning
Path planning
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spelling Smooth path and speed planning for an automated public transport vehicleVillagrá, JorgeMilanés, VicentePérez Rastelli, Joshué ManuelGodoy, JorgeFlatnessCurvatureMobile robotsAutonomous vehiclesSpeed planningPath planningThis paper presents a path and speed planner for automated public transport vehicles in unstructured environments. Since efficiency and comfort are two of the key issues in promoting this kind of transportation system, they are dealt with explicitly in the proposed planning algorithm. To that end, a global path planner has been designed with bounded continuous curvature and bounded curvature derivative to ensure smooth driving. This will allow the public transport system to know a priori which is the shortest path within a selected area that guarantees lateral accelerations and steering wheel speeds below given pre-set thresholds. A closed-form speed profiler uses semantic information provided by the path planner to set a continuous velocity reference that takes into account not only bounds on lateral and longitudinal accelerations consistent with comfort, but also a bound on longitudinal jerk. The suitability of the above two features was compared to manual driving in a real instrumented public transport vehicle on a test track. © 2011 Elsevier B.V. All rights reserved.Spanish Ministry of Science and Innovation, TRANSITO TRA2008-06602-C03 ; Spanish Ministry of Development, GUIADE P9/08NoPeer ReviewedElsevierConsejo Superior de Investigaciones Científicas [https://ror.org/02gfc7t72]20122015info:eu-repo/semantics/articlehttp://purl.org/coar/resource_type/c_6501Preprintinfo:eu-repo/semantics/submittedVersionapplication/pdfhttp://hdl.handle.net/10261/109975reponame:DIGITAL.CSIC. Repositorio Institucional del CSICinstname:Consejo Superior de Investigaciones Científicas (CSIC)InglésSíinfo:eu-repo/semantics/openAccessoai:digital.csic.es:10261/1099752026-05-22T06:33:51Z
dc.title.none.fl_str_mv Smooth path and speed planning for an automated public transport vehicle
title Smooth path and speed planning for an automated public transport vehicle
spellingShingle Smooth path and speed planning for an automated public transport vehicle
Villagrá, Jorge
Flatness
Curvature
Mobile robots
Autonomous vehicles
Speed planning
Path planning
title_short Smooth path and speed planning for an automated public transport vehicle
title_full Smooth path and speed planning for an automated public transport vehicle
title_fullStr Smooth path and speed planning for an automated public transport vehicle
title_full_unstemmed Smooth path and speed planning for an automated public transport vehicle
title_sort Smooth path and speed planning for an automated public transport vehicle
dc.creator.none.fl_str_mv Villagrá, Jorge
Milanés, Vicente
Pérez Rastelli, Joshué Manuel
Godoy, Jorge
author Villagrá, Jorge
author_facet Villagrá, Jorge
Milanés, Vicente
Pérez Rastelli, Joshué Manuel
Godoy, Jorge
author_role author
author2 Milanés, Vicente
Pérez Rastelli, Joshué Manuel
Godoy, Jorge
author2_role author
author
author
dc.contributor.none.fl_str_mv Consejo Superior de Investigaciones Científicas [https://ror.org/02gfc7t72]
dc.subject.none.fl_str_mv Flatness
Curvature
Mobile robots
Autonomous vehicles
Speed planning
Path planning
topic Flatness
Curvature
Mobile robots
Autonomous vehicles
Speed planning
Path planning
description This paper presents a path and speed planner for automated public transport vehicles in unstructured environments. Since efficiency and comfort are two of the key issues in promoting this kind of transportation system, they are dealt with explicitly in the proposed planning algorithm. To that end, a global path planner has been designed with bounded continuous curvature and bounded curvature derivative to ensure smooth driving. This will allow the public transport system to know a priori which is the shortest path within a selected area that guarantees lateral accelerations and steering wheel speeds below given pre-set thresholds. A closed-form speed profiler uses semantic information provided by the path planner to set a continuous velocity reference that takes into account not only bounds on lateral and longitudinal accelerations consistent with comfort, but also a bound on longitudinal jerk. The suitability of the above two features was compared to manual driving in a real instrumented public transport vehicle on a test track. © 2011 Elsevier B.V. All rights reserved.
publishDate 2012
dc.date.none.fl_str_mv 2012
2015
dc.type.none.fl_str_mv info:eu-repo/semantics/article
http://purl.org/coar/resource_type/c_6501
Preprint
info:eu-repo/semantics/submittedVersion
format article
status_str submittedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/10261/109975
url http://hdl.handle.net/10261/109975
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv Sí
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Elsevier
publisher.none.fl_str_mv Elsevier
dc.source.none.fl_str_mv reponame:DIGITAL.CSIC. Repositorio Institucional del CSIC
instname:Consejo Superior de Investigaciones Científicas (CSIC)
instname_str Consejo Superior de Investigaciones Científicas (CSIC)
reponame_str DIGITAL.CSIC. Repositorio Institucional del CSIC
collection DIGITAL.CSIC. Repositorio Institucional del CSIC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15.81155

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