Path and speed planning for smooth autonomous navigation
Jorge Villagrá, Vicente Milanés, Joshué Manuel Pérez Rastelli, Jorge Godoy, Enrique Onieva · DIGITAL.CSIC (Spanish National Research Council (CSIC)) · 2012
Abstract—This paper presents a path and speed planner for automated vehicles in unstructured en-vironments. A global path planner has been designed with bounded continuous curvature and bounded cur-vature derivative to ensure smooth driving. This will allow the vehicle to know a priori which is the shortest path within a selected area that guarantees lateral accelerations and steering wheel speeds below given pre-set thresholds. A closed-form speed profiler uses semantic information provided by the path planner to set a continuous velocity reference that takes into account bounds on lateral and longitudinal accelera-tions consistent with comfort. The suitability of the above two features was compared to manual driving in a real instrumented vehicle on a test track. I.