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

Thumbnail Image
Identifiers
URI: https://hdl.handle.net/10016/31889
ISSN: 0197-6729
DOI: https://doi.org/10.1155/2018/6392697
UXXI: AR/0000021186
Files
global_JOAT_2018.pdf (3.95 MB)
Publication date
2018-02-22
Defense date
Authors
Advisors
Tutors
Journal Title
Journal ISSN
Volume Title
Publisher
Hindawi
Impact
Google Scholar
Export
Research Projects
Organizational Units
Journal Issue
Abstract
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.
Description
Keywords
Time elastic bands, Ackermann model, Kinematics, Autonomous vehicles, Robot operating system, Intelligent campus automobile
Bibliographic citation
Pablo Marin-Plaza, Ahmed Hussein, David Martin, Arturo de la Escalera, "Global and Local Path Planning Study in a ROS-Based Research Platform for Autonomous Vehicles", Journal of Advanced Transportation, vol. 2018, Article ID 6392697, 10 pages, 2018
Collections
DISA - LSI - Artículos de Revistas