Scipediacontent: Scipediacontent moved page Draft Content 856369701 to Warwick et al 2013a

2021-02-12T13:03:44Z

Scipediacontent moved page Draft Content 856369701 to Warwick et al 2013a

Scipediacontent: Created page with " == Abstract == This paper investigates the trajectory generation problem for an advanced driver assistance system that could sense the driving state of the vehicle, so that..."

2021-02-12T13:03:41Z

Created page with " == Abstract == This paper investigates the trajectory generation problem for an advanced driver assistance system that could sense the driving state of the vehicle, so that..."

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== Abstract ==

This paper investigates the trajectory generation problem for an advanced driver assistance system that could sense the driving state of the vehicle, so that a collision free trajectory can be generated safely. Specifically, the problem of trajectory generation is solved for the safety assessment of the driving state and to manipulate the vehicle in order to avoid any possible collisions. The vehicle senses the environment so as to obtain information about other vehicles and static obstacles ahead. Vehicles may share the perception of the environment via an inter-vehicle communication system. The planning algorithm is based on a visibility graph. A lateral repulsive potential is applied to adaptively maintain a trade-off between the trajectory length and vehicle clearance, which is the greatest problem associated with visibility graphs. As opposed to adaptive roadmap approaches, the algorithm exploits the structured nature of the environment for construction of the roadmap. Furthermore, the mostly organized nature of traffic systems is exploited to obtain orientation invariance, which is another limitation of both visibility graphs and adaptive roadmaps. Simulation results show that the algorithm can successfully solve the problem for a variety of commonly found scenarios.

Document type: Article

== Full document ==
<pdf>Media:Draft_Content_856369701-beopen267-7790-document.pdf</pdf>

== Original document ==

The different versions of the original document can be found in:

* [http://dx.doi.org/10.3390/robotics2010019 http://dx.doi.org/10.3390/robotics2010019] under the license https://creativecommons.org/licenses/by

* [https://www.mdpi.com/2218-6581/2/1/19/pdf https://www.mdpi.com/2218-6581/2/1/19/pdf] under the license http://creativecommons.org/licenses/by/3.0/

* [http://www.mdpi.com/2218-6581/2/1/19 http://www.mdpi.com/2218-6581/2/1/19],
: [https://doaj.org/toc/2218-6581 https://doaj.org/toc/2218-6581] under the license cc-by

* [http://www.mdpi.com/2218-6581/2/1/19/pdf http://www.mdpi.com/2218-6581/2/1/19/pdf],
: [http://dx.doi.org/10.3390/robotics2010019 http://dx.doi.org/10.3390/robotics2010019]

* [https://www.mdpi.com/2218-6581/2/1/19/pdf https://www.mdpi.com/2218-6581/2/1/19/pdf],
: [https://www.mdpi.com/2218-6581/2/1/19 https://www.mdpi.com/2218-6581/2/1/19],
: [http://rkala.in/papers/robotics-2013.pdf http://rkala.in/papers/robotics-2013.pdf],
: [https://dblp.uni-trier.de/db/journals/robotics/robotics2.html#ShackletonKW13 https://dblp.uni-trier.de/db/journals/robotics/robotics2.html#ShackletonKW13],
: [https://doi.org/10.3390/robotics2010019 https://doi.org/10.3390/robotics2010019],
: [https://doaj.org/article/acce0312880c423e95492f7a73a64c40 https://doaj.org/article/acce0312880c423e95492f7a73a64c40],
: [http://www.mdpi.com/2218-6581/2/1/19/pdf http://www.mdpi.com/2218-6581/2/1/19/pdf],
: [https://academic.microsoft.com/#/detail/2086263170 https://academic.microsoft.com/#/detail/2086263170] under the license https://creativecommons.org/licenses/by/4.0/

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Warwick et al 2013a - Revision history

Scipediacontent: Scipediacontent moved page Draft Content 856369701 to Warwick et al 2013a

Scipediacontent: Created page with " == Abstract == This paper investigates the trajectory generation problem for an advanced driver assistance system that could sense the driving state of the vehicle, so that..."