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

• Published in: Journal of advanced transportation Vol. 2018; no. 2018; pp. 1 - 10
• Main Authors: Escalera, Arturo de la, Martin, David, Hussein, Ahmed, Marín-Plaza, Pablo
• Format: Journal Article
• Language: English
• Published: Cairo, Egypt Hindawi Publishing Corporation 01.01.2018; Hindawi; John Wiley & Sons, Inc; Wiley
• Subjects: Algorithms; Automobiles; Autonomous vehicles; Constraint modelling; Driverless cars; Kinematics; Localization; Mathematical models; Navigation; Planning; Prototyping; Robotics; Robots; Software; Trajectory analysis; Trajectory planning; Transportation

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...