Publications:Path Planning, Replanning, and Execution for Autonomous Driving in Urban and Offroad Environments
From ISLAB/CAISR
| Title | Path Planning, Replanning, and Execution for Autonomous Driving in Urban and Offroad Environments |
|---|---|
| Author | Roland Philippsen and Sascha Kolski and Kristijan Macek and Roland Siegwart |
| Year | 2007 |
| PublicationType | Conference Paper |
| Journal | |
| HostPublication | Workshop on Planning, Perception and Navigation for Intelligent Vehicles |
| Conference | 2007 IEEE International Conference on Robotics and Automation, ICRA 2007, 10-14 April 2007, Roma, Italy |
| DOI | |
| Diva url | http://hh.diva-portal.org/smash/record.jsf?searchId=1&pid=diva2:576992 |
| Abstract | We present an autonomous driving system that iscapable of planning, replanning, and executing paths for drivingin urban and offroad environments. For planning, we rely onthe E algorithm which computes a smooth navigation functionthat takes into account traversibility information extracted fromlaser scans. The path execution algorithm is centered arounda kinodynamic controller which follows the gradient of thenavigation function. This work is based on prior experience withthe SmartTer vehicle, which we are in the process of updating,and the focus is on integration. |
