NDLI: A unified approach to local trajectory planning and control for autonomous driving along a reference path

Content Provider	IEEE Xplore Digital Library
Author	Xiaohui Li Zhenping Sun Qi Zhu Daxue Liu
Copyright Year	2014
Description	Author affiliation: Coll. of Mechatron. & Autom., Nat. Univ. of Defense Technol., Changsha, China (Xiaohui Li; Zhenping Sun; Qi Zhu; Daxue Liu)
Abstract	This paper presents a unified approach to local trajectory planning and control for the autonomous ground vehicle driving along a rough predefined path. In order to cope with the unpredictably changing environment reactively and reason about the global guidance, we develop an efficient sampling-based model predictive local path generation approach to generate a set of kinematically-feasible trajectories aligning with the reference path. A discrete optimization scheme is developed to select the best path based on a specified objective function, then followed by the velocity profile generation. As for the low-level control, to achieve high performance of control, two degree of freedom control architecture is employed by combining the feedforward control with the feedback control. The simulation results demonstrate the capability of the proposed approach to track the curvature-discontinuous reference path robustly, while avoiding collisions with static obstacles.
Starting Page	1716
Ending Page	1721
File Size	417865
Page Count	6
File Format	PDF
ISBN	9781479939787
e-ISBN	9781479939794
DOI	10.1109/ICMA.2014.6885959
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-08-03
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vehicles Trajectory Planning Vehicle dynamics Aerospace electronics Numerical models Predictive models sampling-based motion planning Autonomous ground vehicle local trajectory generation
Content Type	Text
Resource Type	Article

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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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