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Autonomous Navigation and Obstacle Avoidance of a Micro-bus : Navigazione autonoma evitando ostacoli per un micro-bus, in: International Journal of Advanced Robotic Systems |
Open document
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General information |
| Author |
Fernández, Carlos; Domínguez, Raúl; Fernández-Llorca, David; Alonso, Javier; Sotelo, Miguel A. |
| Published |
InTech Open Access Publisher, 2013
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| Abstract |
At present, the topic of automated vehicles
is one of the most promising research areas in the
field of Intelligent Transportation Systems (ITS). The
use of automated vehicles for public transportation
also contributes to reductions in congestion levels and
to improvements in traffic flow. Moreover, electrical
public autonomous vehicles are environmentally friendly,
provide better air quality and contribute to energy
conservation. The driverless public transportation
systems, which are at present operating in some airports
and train stations, are restricted to dedicated roads and
exhibit serious trouble dynamically avoiding obstacles
in the trajectory. In this paper, an electric autonomous
mini-bus is presented. All datasets used in this article
were collected during the experiments carried out in the
demonstration event of the 2012 IEEE Intelligent Vehicles
Symposium that took place in Alcalá de Henares (Spain).
The demonstration consisted of a route 725 metres long
containing a list of latitude-longitude points (waypoints).
The mini-bus was capable of driving autonomously from
one waypoint to another using a GPS sensor. Furthermore,
the vehicle is provided with a multi-beam Laser Imaging
Detection and Ranging (LIDAR) sensor for surrounding
reconstruction and obstacle detection. When an obstacle
is detected in the planned path, the planned route is
modified in order to avoid the obstacle and continue its
way to the end of the mission. On the demonstration day,
a total of 196 attendees had the opportunity to get a ride on
the vehicles. A total of 28 laps were successfully completed
in full autonomous mode in a private circuit located in the
National Institute for Aerospace Research (INTA), Spain.
In other words, the system completed 20.3 km of driverless
navigation and obstacle avoidance. |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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