Planning system and navigation control for an autonomous vehicle in an urban environment
Abstract
In this work, the development of a planning system of paths for an autonomous vehicle is reported. It works in an urban environment and uses the current and goal positions. This system gets the corresponding trajectory that will be the reference in a steering and speed controller. Also, a classic controller is presented which ensures the appropriate navigation. It does the trajectory tracking using odometry and a visual-feedback controller to get the necessary corrections to lane-keeping; especially in turns where perturbations in the steering appear. Finally, simulation results are presented using the Gazebo ROS simulator and the AutoMiny model from the Free University of Berlin.
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