Smooth trajectory planning for fully automated passengers vehicles - spline and clothoid based methods and its simulation

  title={Smooth trajectory planning for fully automated passengers vehicles - spline and clothoid based methods and its simulation},
  author={Larissa Labakhua and Urbano Jose C. Nunes and Rui Rodrigues and Fatima Silva Leite},
A new approach for mobility, providing an alternative to the private passenger car, by offering the same flexibility but with much less nuisances, is emerging, based on fully automated electric vehicles. A fleet of such vehicles might be an important element in a novel individual, door-to-door, transportation system to the city of tomorrow. For fully automated operation, trajectory planning methods that produce smooth trajectories, with low associated accelerations and jerk, for providing… 

Functional architecture for automated vehicles trajectory planning in complex environments

The proposed generic modular architecture for automated vehicles motion planning implements and improves curve interpolation techniques in the motion planning literature by including comfort as the main design parameter, addressing complex environments such as turns, intersections and roundabouts and demonstrates the modularity of the functional architecture.

Flexible and Smooth Trajectory Generation based on Parametric Clothoids for Nonholonomic Car-like Vehicles

This thesis proposes a smooth path generation method for nonholonomic vehicles which has inherently continuity of curvature and having important flexibility for various boundary conditions, named pCCP (parametric Continuous Curvature Path).


Abstract This paper introduces a novel trajectory planner for flexible material handling with an autonomous fork lift truck. Based on a set of predefined waypoints, a continuous-curvature path is

Urban Motion Planning Framework Based on N-Bézier Curves Considering Comfort and Safety

The aim of this work is to present a complete framework of motion planning for automated vehicles, considering different constraints with parametric curves for lateral and longitudinal planners.

Safe Motion Planning for Autonomous Driving

A novel motion planning system is described, which translates high-level navigation goals into low-level actions for controlling a vehicle, and is able to compute a safe and efficient trajectory in a dynamic environment while staying within its lane and avoiding obstacles.

Two-staged local trajectory planning based on optimal pre-planned curves interpolation for human-like driving in urban areas

A two-staged local planning approach to provide a solution to the navigation problem on urban environments, where a fast solution can be found benefiting from the static local planner works both for static and dynamic environments.

Optimization-Based Motion Planning and Model Predictive Control for Autonomous Driving

A clothoid-based path sparsification algorithm to describe a reference path and a novel framework, in which path planning problems are posed in a convex optimization format, which maximizes the path planning performance in very constrained environments, are introduced.

Comfort-Based Trajectory and Velocity Planning for Automated Vehicles Considering Road Conditions

This study aimed to present a vehicle-to-infrastructure system to adjust AV trajectories for alleviating the negative impacts of bumpy roads on comfort and showed that the trajectory adjustment approach improved the overall comfort level by 30 % in the numerical case.



Trajectory Planning with Velocity Planner for Fully-Automated Passenger Vehicles

  • R. ȘoleaU. Nunes
  • Engineering
    2006 IEEE Intelligent Transportation Systems Conference
  • 2006
An approach that consists of introducing a velocity planning stage to generate adequate time sequences to be used in the interpolating curve planner, is proposed, which can be merged into the trajectory for usage in trajectory-tracking tasks or used for path-following tasks.

Global minimum-jerk trajectory planning of robot manipulators

A new approach based on interval analysis is developed to find the global minimum-jerk trajectory of a robot manipulator within a joint space scheme using cubic splines, and the resulting MJ trajectory planning is shown to be a global constrained minimax optimization problem.

Intelligent Vehicle Technology and Trends

This easy to understand book presents a conceptual and realistic view of how IV systems work and the issues involved with their introduction into road vehicles.

The Cycab robot: a differentially flat system

This study tackles the study of this new nonholonomic system, the Cycab robot, by establishing its kinematic model and proving its differential flatness property, and deduce a first motion planner for the system.

On the generation of a trigonometric interpolating curve in R3

The problem of generating smooth trajectories of mechanical systems is particularly important in robotics. Traditionally, cubic splines are the most used for pathplanning of mobile robots moving in a

A stable tracking control method for a non-holonomic mobile robot

A stable control rule to find a reasonable target linear and rotational velocities ( nu, omega )/sup t/ is proposed and implemented on the autonomous mobile robot Yamabico-11.

Applied numerical analysis

The fifth edition of this book continues teaching numerical analysis and techniques. Suitable for students with mathematics and engineering backgrounds, the breadth of topics (partial differential

Trajectory planning using continuous curvature paths

  • Journal DETUA

Intelligent Vehicle Technology and Trends , Artech House . Cybercars 2001 . Cybernetic technologies for the car in the city . [ online ]

  • 2005