Global and Local Path Planning Study in a ROS-Based Research Platform for Autonomous Vehicles
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 po...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2018-01-01
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| Series: | Journal of Advanced Transportation |
| Online Access: | http://dx.doi.org/10.1155/2018/6392697 |
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| _version_ | 1850229112912740352 |
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| author | Pablo Marin-Plaza Ahmed Hussein David Martin Arturo de la Escalera |
| author_facet | Pablo Marin-Plaza Ahmed Hussein David Martin Arturo de la Escalera |
| author_sort | Pablo Marin-Plaza |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-1f42abc84b6743779b5ad8d386e0a6b2 |
| institution | OA Journals |
| issn | 0197-6729 2042-3195 |
| language | English |
| publishDate | 2018-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Advanced Transportation |
| spelling | doaj-art-1f42abc84b6743779b5ad8d386e0a6b22025-08-20T02:04:20ZengWileyJournal of Advanced Transportation0197-67292042-31952018-01-01201810.1155/2018/63926976392697Global and Local Path Planning Study in a ROS-Based Research Platform for Autonomous VehiclesPablo Marin-Plaza0Ahmed Hussein1David Martin2Arturo de la Escalera3Universidad Carlos III de Madrid, Leganes, SpainUniversidad Carlos III de Madrid, Leganes, SpainUniversidad Carlos III de Madrid, Leganes, SpainUniversidad Carlos III de Madrid, Leganes, SpainThe 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.http://dx.doi.org/10.1155/2018/6392697 |
| spellingShingle | 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 |
| title | Global and Local Path Planning Study in a ROS-Based Research Platform for Autonomous Vehicles |
| title_full | Global and Local Path Planning Study in a ROS-Based Research Platform for Autonomous Vehicles |
| title_fullStr | Global and Local Path Planning Study in a ROS-Based Research Platform for Autonomous Vehicles |
| title_full_unstemmed | Global and Local Path Planning Study in a ROS-Based Research Platform for Autonomous Vehicles |
| title_short | Global and Local Path Planning Study in a ROS-Based Research Platform for Autonomous Vehicles |
| title_sort | global and local path planning study in a ros based research platform for autonomous vehicles |
| url | http://dx.doi.org/10.1155/2018/6392697 |
| work_keys_str_mv | AT pablomarinplaza globalandlocalpathplanningstudyinarosbasedresearchplatformforautonomousvehicles AT ahmedhussein globalandlocalpathplanningstudyinarosbasedresearchplatformforautonomousvehicles AT davidmartin globalandlocalpathplanningstudyinarosbasedresearchplatformforautonomousvehicles AT arturodelaescalera globalandlocalpathplanningstudyinarosbasedresearchplatformforautonomousvehicles |