Motion Autonomy Through Sensor­Guided Manoeuvre

ftp://ftp.inrialpes.fr/pub/sharp/publications/garnier:etal:icahsw:97.pdf.gz (not accepted here, non vectorial font)This paper deals with a novel motion control approach for a car­like vehicle evolving in a structured, dynamic and partially known environment. The overall architecture of the control system is presented. We focus on two modules: the Global Trajectory Planner (GTP) and the Manoeuvre Execution (ME). The key idea of the approach is to plan and carry out sensor­guided manoeuvres. A nominal trajectory is generated, based on monitoring the environment and a prediction of its evolution. In order to take into account unforeseen events, the motion control is carried out within the reactive scheme. The automatic vehicle adapts its nominal trajectory to avoid obstacles in a reactive way. Since replanning is time consuming, local trajectories associated with generic manoeuvres and based on perceptive information are planned and followed by ME. The approach developed allows to obtain the smooth motion of the vehicle. Experimental results obtained with our automatic car­like vehicle are presented for two kinds of manoeuvres : a lane following/changing and an autonomous parallel parking