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dc.contributor.authorGarrido, Fernando
dc.contributor.authorGonzalez, Leonardo
dc.contributor.authorMilanes, Vicente
dc.contributor.authorPerez, Joshue
dc.contributor.authorNashashibi, Fawzi
dc.date.accessioned2020-08-25T15:21:27Z
dc.date.available2020-08-25T15:21:27Z
dc.date.issued2020
dc.identifier.citationGarrido, Fernando, Leonardo Gonzalez, Vicente Milanes, Joshue Perez, and Fawzi Nashashibi. “A Two-Stage Real-Time Path Planning: Application to the Overtaking Manuever.” IEEE Access (2020): 1–1. doi:10.1109/access.2020.3008374.en
dc.identifier.urihttp://hdl.handle.net/11556/960
dc.description.abstractThis paper proposes a two-stage local path planning approach to deal with all kinds of scenarios (i.e. intersections, turns, roundabouts). The first stage carries out an off-line optimization, considering vehicle kinematics and road constraints. The second stage includes all dynamic obstacles in the scene, generating a continuous path in real-time. Human-like driving style is provided by evaluating the sharpness of the road bends and the available space among them, optimizing the drivable area. The proposed approach is validated on overtaking scenarios where real-time path planning generation plays a key role. Simulation and real results on an experimental automated platform provide encouraging results, generating real-time collision-free paths while maintaining the defined smoothness criteria.en
dc.description.sponsorshipINRIA and VEDECOM Institutes under the Ph.D. Grant; 10.13039/501100011688-Electronic Components and Systems for European Leadership (ECSEL) Project AutoDriveen
dc.language.isoengen
dc.publisherIEEE. Institute of Electrical and Electronics Engineers Inc.en
dc.rightsAttribution 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/*
dc.titleA Two-Stage Real-Time Path Planning: Application to the Overtaking Manueveren
dc.typejournal articleen
dc.identifier.doi10.1109/ACCESS.2020.3008374en
dc.rights.accessRightsopen accessen
dc.subject.keywordsAutomated drivingen
dc.subject.keywordsPath planningen
dc.subject.keywordsOvertakingen
dc.subject.keywordsIntelligent transportation systemsen
dc.identifier.essn2169-3536en
dc.journal.titleIEEE Accessen
dc.page.final128740en
dc.page.initial128730en
dc.volume.number8en


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