Towards urban driverless vehicles
FREE-DOWNLOAD [PDF] R Benenson, S Petti, T Fraichard… – International Journal of …, 2008
The paper addresses the problem of autonomous navigation of a car-like robot evolving in an urban environment. Such anenvironment exhibits an heterogeneous geometry and is cluttered withmoving obstacles. Furthermore, in this context, motion safety is a critical issue. The proposed approach to the problem lies in the design ofperception and planning modules that consider explicitely the dynamicnature of the vehicle and the environment while enforcing the safetyconstraint. The main contributions of this work are the development ofsuch modules and they integration into a single application. Initial fullscale experiments validating the approach are presented.