A practical planning framework and its implementation for autonomous navigation in off-road environment

Tian Yang; Guangming Xiong; Yu Zhang; Lei Yang; Bo Tang; Mengze Wu; Jianwei Gong

doi:10.1109/IVS.2019.8814219

A practical planning framework and its implementation for autonomous navigation in off-road environment

Tian Yang, Guangming Xiong, Yu Zhang, Lei Yang, Bo Tang, Mengze Wu, Jianwei Gong

School of Mechanical Engineering

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

7 Citations (Scopus)

Abstract

In this paper, we introduce a practical two-layer planning framework for autonomous vehicles operating in unknown off-road environment. The first layer refers to a global path planning layer, searching a shortest global path from road network according to given task points. We build up road network through pre-processing on Google earth and refactoring network in terms of vehicle real historical trajectory on real-time. The second layer refers to a local planning layer, solving a real-time planning problem to generate a collision-free and kinematic-feasible local path by a hybrid trajectory planning method. Our method has been verified in real off-road environment. Experimental results show that the proposed planning method performs well in off-road environment.

Original language	English
Title of host publication	2019 IEEE Intelligent Vehicles Symposium, IV 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1571-1576
Number of pages	6
ISBN (Electronic)	9781728105604
DOIs	https://doi.org/10.1109/IVS.2019.8814219
Publication status	Published - Jun 2019
Event	30th IEEE Intelligent Vehicles Symposium, IV 2019 - Paris, France Duration: 9 Jun 2019 → 12 Jun 2019

Publication series

Name	IEEE Intelligent Vehicles Symposium, Proceedings
Volume	2019-June

Conference

Conference	30th IEEE Intelligent Vehicles Symposium, IV 2019
Country/Territory	France
City	Paris
Period	9/06/19 → 12/06/19

Access to Document

10.1109/IVS.2019.8814219

Cite this

Yang, T., Xiong, G., Zhang, Y., Yang, L., Tang, B., Wu, M., & Gong, J. (2019). A practical planning framework and its implementation for autonomous navigation in off-road environment. In 2019 IEEE Intelligent Vehicles Symposium, IV 2019 (pp. 1571-1576). Article 8814219 (IEEE Intelligent Vehicles Symposium, Proceedings; Vol. 2019-June). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IVS.2019.8814219

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title = "A practical planning framework and its implementation for autonomous navigation in off-road environment",

abstract = "In this paper, we introduce a practical two-layer planning framework for autonomous vehicles operating in unknown off-road environment. The first layer refers to a global path planning layer, searching a shortest global path from road network according to given task points. We build up road network through pre-processing on Google earth and refactoring network in terms of vehicle real historical trajectory on real-time. The second layer refers to a local planning layer, solving a real-time planning problem to generate a collision-free and kinematic-feasible local path by a hybrid trajectory planning method. Our method has been verified in real off-road environment. Experimental results show that the proposed planning method performs well in off-road environment.",

author = "Tian Yang and Guangming Xiong and Yu Zhang and Lei Yang and Bo Tang and Mengze Wu and Jianwei Gong",

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doi = "10.1109/IVS.2019.8814219",

language = "English",

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Yang, T, Xiong, G, Zhang, Y, Yang, L, Tang, B, Wu, M & Gong, J 2019, A practical planning framework and its implementation for autonomous navigation in off-road environment. in 2019 IEEE Intelligent Vehicles Symposium, IV 2019., 8814219, IEEE Intelligent Vehicles Symposium, Proceedings, vol. 2019-June, Institute of Electrical and Electronics Engineers Inc., pp. 1571-1576, 30th IEEE Intelligent Vehicles Symposium, IV 2019, Paris, France, 9/06/19. https://doi.org/10.1109/IVS.2019.8814219

A practical planning framework and its implementation for autonomous navigation in off-road environment. / Yang, Tian; Xiong, Guangming; Zhang, Yu et al.
2019 IEEE Intelligent Vehicles Symposium, IV 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 1571-1576 8814219 (IEEE Intelligent Vehicles Symposium, Proceedings; Vol. 2019-June).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Gong, Jianwei

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AB - In this paper, we introduce a practical two-layer planning framework for autonomous vehicles operating in unknown off-road environment. The first layer refers to a global path planning layer, searching a shortest global path from road network according to given task points. We build up road network through pre-processing on Google earth and refactoring network in terms of vehicle real historical trajectory on real-time. The second layer refers to a local planning layer, solving a real-time planning problem to generate a collision-free and kinematic-feasible local path by a hybrid trajectory planning method. Our method has been verified in real off-road environment. Experimental results show that the proposed planning method performs well in off-road environment.

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M3 - Conference contribution

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Yang T, Xiong G, Zhang Y, Yang L, Tang B, Wu M et al. A practical planning framework and its implementation for autonomous navigation in off-road environment. In 2019 IEEE Intelligent Vehicles Symposium, IV 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 1571-1576. 8814219. (IEEE Intelligent Vehicles Symposium, Proceedings). doi: 10.1109/IVS.2019.8814219

A practical planning framework and its implementation for autonomous navigation in off-road environment

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