Clothoids Composition Method for Smooth Path Generation of Car-Like Vehicle Navigation

Gim, Suhyeon; Adouane, Lounis; Lee, Sukhan; Dérutin, Jean-Pierre

doi:10.1007/s10846-017-0531-8

Cited by 39 publications

(43 citation statements)

References 27 publications

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“…They propose a new algorithm 'PointBug' that minimizes the use of the border (outer periphery), in order to generate a path from source to target. Some of the local path planners are based on [228] Splines as given by Piazzi et al [234], Bezier lines as given by Rastelli et al [235], arcs and segments by Reeds et al [236], Clothoids lines [237], and so on. 3.…”

Section: Path Planningmentioning

confidence: 99%

Survey of Datafusion Techniques for Laser and Vision Based Sensor Integration for Autonomous Navigation

Kolar

Benavidez

Jamshidi

2020

Sensors

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This paper focuses on data fusion, which is fundamental to one of the most important modules in any autonomous system: perception. Over the past decade, there has been a surge in the usage of smart/autonomous mobility systems. Such systems can be used in various areas of life like safe mobility for the disabled, senior citizens, and so on and are dependent on accurate sensor information in order to function optimally. This information may be from a single sensor or a suite of sensors with the same or different modalities. We review various types of sensors, their data, and the need for fusion of the data with each other to output the best data for the task at hand, which in this case is autonomous navigation. In order to obtain such accurate data, we need to have optimal technology to read the sensor data, process the data, eliminate or at least reduce the noise and then use the data for the required tasks. We present a survey of the current data processing techniques that implement data fusion using different sensors like LiDAR that use light scan technology, stereo/depth cameras, Red Green Blue monocular (RGB) and Time-of-flight (TOF) cameras that use optical technology and review the efficiency of using fused data from multiple sensors rather than a single sensor in autonomous navigation tasks like mapping, obstacle detection, and avoidance or localization. This survey will provide sensor information to researchers who intend to accomplish the task of motion control of a robot and detail the use of LiDAR and cameras to accomplish robot navigation.

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Section: Path Planningmentioning

confidence: 99%

Survey of Datafusion Techniques for Laser and Vision Based Sensor Integration for Autonomous Navigation

Kolar

Benavidez

Jamshidi

2020

Sensors

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“…Therefore, with the updated local map and the global waypoints, the local planning generates avoidance strategies for dynamic obstacles and tries to match the trajectory as much as possible to the provided waypoints from the global planner. Different approaches are based on trajectory generation using Clothoids lines [16], Bezier lines [17], arcs and segments [18], or splines [19]. All of them create intermediate waypoints following the generated trajectory.…”

Section: Local Plannermentioning

confidence: 99%

Global and Local Path Planning Study in a ROS-Based Research Platform for Autonomous Vehicles

Marin-Plaza

Hussein

Martín

et al. 2018

Journal of Advanced Transportation

130

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The aim of this work is to integrate and analyze the performance of a path planning method based on Time Elastic Bands (TEB) in real research platform based on Ackermann model. Moreover, it will be proved that all modules related to the navigation can coexist and work together to achieve the goal point without any collision. The study is done by analyzing the trajectory generated from global and local planners. The software prototyping tool is Robot Operating System (ROS) from Open Source Robotics Foundation and the research platform is the iCab (Intelligent Campus Automobile) from University Carlos III. This work has been validated from a test inside the campus where the iCab has performed the navigation between the starting point and the goal point without any collision. During the experiment, we proved the low sensitivity of the TEB method to variations of the vehicle model configuration and constraints.

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“…RGB normalization is used to decrease distortions caused by illumination and to enhance results in color modelling after the white balance. For each pixel, the (R, G, B) value is updated by using (2).…”

Section: Color-based Road Detectormentioning

confidence: 99%

“…Laser-based navigation has been rapidly improved and is leveraged by most commercial robots or driverless cars. A continuous curvature path is generated for car-like vehicle navigation by multiple clothoids composition and parametric adjustment [2]. The clothoids composition method for path generation relies heavily on detailed and highly accurate prior maps of the environments, which give the boundary geometric constraints.…”

Section: Introductionmentioning

confidence: 99%

A Low Cost Vision-Based Road-Following System for Mobile Robots

Zhang¹,

Hernandez²,

Su³

et al. 2018

Applied Sciences

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Navigation is necessary for autonomous mobile robots that need to track the roads in outdoor environments. These functions could be achieved by fusing data from costly sensors, such as GPS/IMU, lasers and cameras. In this paper, we propose a novel method for road detection and road following without prior knowledge, which is more suitable with small single lane roads. The proposed system consists of a road detection system and road tracking system. A color-based road detector and a texture line detector are designed separately and fused to track the target in the road detection system. The top middle area of the road detection result is regarded as the road-following target and is delivered to the road tracking system for the robot. The road tracking system maps the tracking position in camera coordinates to position in world coordinates, which is used to calculate the control commands by the traditional tracking controllers. The robustness of the system is enhanced with the development of an Unscented Kalman Filter (UKF). The UKF estimates the best road borders from the measurement and presents a smooth road transition between frame to frame, especially in situations such as occlusion or discontinuous roads. The system is tested to achieve a recognition rate of about 98.7% under regular illumination conditions and with minimal road-following error within a variety of environments under various lighting conditions.

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Clothoids Composition Method for Smooth Path Generation of Car-Like Vehicle Navigation

Abstract: International audienc

Cited by 39 publications

References 27 publications

Survey of Datafusion Techniques for Laser and Vision Based Sensor Integration for Autonomous Navigation

Survey of Datafusion Techniques for Laser and Vision Based Sensor Integration for Autonomous Navigation

Global and Local Path Planning Study in a ROS-Based Research Platform for Autonomous Vehicles

A Low Cost Vision-Based Road-Following System for Mobile Robots

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