Autonomous Vehicle Navigation in Semi-Structured Urban Environment

Magalhães, André Chaves; Prado, Marcos; Grassi, Valdir; Wolf, Denis F.

doi:10.3182/20130626-3-au-2035.00051

Cited by 10 publications

(8 citation statements)

References 10 publications

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“…Our vehicle is a car-like and the kinematic model is based on the Ackermann geometry for front wheels steering and two axles [11]. Similarly as presented in [12], we are using 9 steering primitives as depicted in Figure 9. We apply 16 rotations in the basic primitives which leads to 144 primitives that can be combined to form a state lattice search space on feasible trajectories.…”

Section: B Path Planningmentioning

confidence: 99%

Vision-Based Autonomous Navigation with a Probabilistic Occupancy Map on Unstructured Scenarios

Klaser

Osório

Wolf

2014

2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol

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Vision-based robotics perception still have a great focus of attention on building systems because of its common availability and low cost. The 3D data produced by the disparity calculation methods in stereo cameras are inaccurate and presents substantial noise. We present here our method to deal with the noisy 3D point cloud produced by stereo camera to build a navigation map and mark obstacles with a probabilistic occupancy map approach. The objective is to integrate continuously the sensor readings marking occupied and free space based on some certainty and accumulate it over time. The output is a navigability map we use to plan a trajectory path. Our main focus is applications like agricultural fields. We have modeled and tested the system fully in simulation and validated it with our real vehicle platform CaRINA I on unstructured scenarios.

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Section: B Path Planningmentioning

confidence: 99%

Vision-Based Autonomous Navigation with a Probabilistic Occupancy Map on Unstructured Scenarios

Klaser

Osório

Wolf

2014

2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol

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“…• Lawn mowing in irregular environments. [131] obstacles are static, deterministic algorithms such as Dijkstra's algorithm [119], [120], [151] and A* [71], [156]- [158] are often employed. Their reliability and predictability make them suitable for tasks where deviations from a set path can be costly.…”

Section: Householdmentioning

confidence: 99%

Emerging Trends in Realistic Robotic Simulations: A Comprehensive Systematic Literature Review

Kargar,

Yordanov,

Harvey

et al. 2024

IEEE Access

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Simulation plays a pivotal role in providing safely reproducible scenarios to evaluate the ever-advancing domain of computer science and robotics. It was an essential part of the pandemic when no access to physical spaces was available. The advent of AI-powered platforms in conjunction with enhanced graphics, physics and other sensory engines attracts a new breed of interdisciplinary researchers to enter the robotic field, most notably from computer science, engineering and social sciences. Integration of ROS as a uniform middleware to deploy achieved outcomes in real practice provides an opportunity to move one step closer to the sim-to-real experiences that enables researchers to test ideas beyond the close laboratory spaces. There is a lack of comprehensive evaluation of ROS-enabled simulators, and the integration of advanced AI techniques for realistic scenario replication. This paper addresses this challenge by evaluating ROSenabled simulators in the design and implementation of AI techniques through an in-depth systematic literature review (SLR). This SLR is guided by the research and commercial market demands, employing Population, Intervention, Comparison, Outcome, and Context (PICOC) and Preferred Reporting Items for Systematic Reviews and Meta-Analyses (PRISMA) frameworks with a major focus on Wheeled Mobile Robots (WMRs). We also highlight the increasing importance of game engines like Unity and Unreal in future of robotic simulations, especially under modelling close to real experiences. By comparing simulation platform features and capabilities, this paper offers guidance to developers and researchers, enabling them to select the most suitable platform for their projects efficiently that contradicts the commonly in use "one size fits all" approach. Finally, based on the thorough insights from the review, we identify and suggest some key future research directions in AI-enhanced realistic robotic simulations.

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“…One of these methods is the Rapidlyexploring Random Tree (RRT) algorithm. Since first presented in [1], RRT and its variations have been used in numerous and diverse applications, e.g., humanoid robots [2], [3], [4] and autonomous vehicles [5], [6], [7].…”

Section: Introductionmentioning

confidence: 99%

Improving RRT's Efficiency through Motion Primitives Generation Optimization

Vieira

Grassi

2014

2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol

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Rapidly-exploring Random Tree (RRT) algorithm has been used for motion planning in numerous and diverse robotic applications. For applications which demands higher motion resolution, the computational cost increases together with the number of motion primitives used to expand the RRT. In this paper we present a method based on optimization by elimination which is applied to the Rapidly-exploring Random Tree algorithm to reduce its computational cost. This method optimizes the efficiency of motion primitives generation. It identifies tree expansion in promising areas by initially generating and analyzing only few motion primitives. Then it increases the number of primitives for motion resolution enhancement in those promising areas. The results achieved by applying this method evidence a substantial decrease in the computational cost.

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Autonomous Vehicle Navigation in Semi-Structured Urban Environment

Cited by 10 publications

References 10 publications

Vision-Based Autonomous Navigation with a Probabilistic Occupancy Map on Unstructured Scenarios

Vision-Based Autonomous Navigation with a Probabilistic Occupancy Map on Unstructured Scenarios

Emerging Trends in Realistic Robotic Simulations: A Comprehensive Systematic Literature Review

Improving RRT's Efficiency through Motion Primitives Generation Optimization

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