Corridors-based navigation for automated vehicles convoy in off-road environments*

作     者：Jorge Godoy Antonio Artuñedo Miguel Beteta Jorge Villagra 

作者机构：Centre for Automation and Robotics (CSIC-UPM). Madrid Spain 

出 版 物：《IFAC-PapersOnLine》 

年 卷 期：2022年第55卷第14期

页      面：71-76页

主　　题：Intelligent Transportation Systems Path planning Multi-Vehicle Systems Navigation Systems Trajectory Tracking Obstacle Detection Avoidance Platoons 

摘      要：Most of the studies found in the literature for autonomous driving solutions applied to vehicles convoying are related to highway platooning applications. However, in recent years both the agriculture and military fields seem to have an increased interest in such solutions for off-road applications. This work presents a corridor-based strategy for motion planning of automated vehicles convoys in off-road environments. From the wake generated by the leading vehicle, the follower vehicle estimates the boundaries of a navigable corridor encompassing the leader s path. Using these boundaries and the outputs from the on-board navigation subsystem, the vehicle plans the most suitable trajectory to follow the leader while avoiding obstacles. In order to keep the vehicles within safety distance thresholds, an inter-distance model is applied to the speed profile generation. The proposed strategy has been implemented and validated with real vehicles, showing promising results in fully operational off-road environments.