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A global path planner for safe navigation of autonomous vehicles in uncertain environments

Alharbi, M and Karimi, HA (2020) A global path planner for safe navigation of autonomous vehicles in uncertain environments. Sensors (Switzerland), 20 (21). 1 - 20. ISSN 1424-8220

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Abstract

© 2020 by the authors. Licensee MDPI, Basel, Switzerland. Autonomous vehicles (AVs) are considered an emerging technology revolution. Planning paths that are safe to drive on contributes greatly to expediting AV adoption. However, the main barrier to this adoption is navigation under sensor uncertainty, with the understanding that there is no perfect sensing solution for all driving environments. In this paper, we propose a global safe path planner that analyzes sensor uncertainty and determines optimal paths. The path planner has two components: Sensor analytics and path finder. The sensor analytics component combines the uncertainties of all sensors to evaluate the positioning and navigation performance of an AV at given locations and times. The path finder component then utilizes the acquired sensor performance and creates a weight based on safety for each road segment. The operation and quality of the proposed path finder are demonstrated through simulations. The simulation results reveal that the proposed safe path planner generates paths that significantly improve the navigation safety in complex dynamic environments when compared to the paths generated by conventional approaches.


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Details

Item Type: Article
Status: Published
Creators/Authors:
CreatorsEmailPitt UsernameORCID
Alharbi, Mmaa271@pitt.eduMAA2710000-0002-9293-4905
Karimi, HAhkarimi@pitt.eduHKARIMI0000-0001-5331-5004
Date: 1 November 2020
Date Type: Publication
Journal or Publication Title: Sensors (Switzerland)
Volume: 20
Number: 21
Page Range: 1 - 20
DOI or Unique Handle: 10.3390/s20216103
Schools and Programs: School of Computing and Information > Information Science
Refereed: Yes
ISSN: 1424-8220
Date Deposited: 04 Nov 2020 16:51
Last Modified: 13 Nov 2020 04:55
URI: http://d-scholarship.pitt.edu/id/eprint/39840

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