Abstract
We present a system to carry out the elaboration of efficient topological maps for autonomous driving applications by using lanelets in satellite images provided by an open source tool such as JOSM (Java Open Street Maps). Our approach is motivated by the need for more efficient and frequent updates on large-scale maps in self driving applications. The system chains the elaboration of an adjusted topological map by using JOSM and its subsequent evaluation using both V-REP simulator and real world tests based on a route planning method (Dijkstra) and trajectory tracking algorithms to implement a ROS based autonomous electric vehicle able to drive in urban areas.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Haklay, M., Weber, P.: OpenStreetMap: user-generated street maps. IEEE Pervasive Comput. 7(4), 12–18 (2008)
Quigley, M., Conley, K., Gerkey, B., Faust, J., Foote, T., Leibs, J., Wheeler, R., Ng, A.Y.: ROS: an open-source robot operating system. In: ICRA Workshop on Open Source Software, Kobe, Japan, vol. 3, p. 5 (2009)
Rohmer, E., Singh, S.P., Freese, M.: V-REP: a versatile and scalable robot simulation framework. In: 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1321–1326. IEEE (2013)
Otero, C., Paz, E., López, J., Barea, R., Romera, E., Molinos, E., Arroyo, R., Bergasa, L.M., López, E.: Simulación de vehículos autónomos usando v-rep bajo ros. Actas de las XXXVIII Jornadas de Automática (2017)
Bender, P., Ziegler, J., Stiller, C.: Lanelets: efficient map representation for autonomous driving. In: 2014 IEEE Intelligent Vehicles Symposium Proceedings, pp. 420–425. IEEE (2014)
Högdahl, J.: Design specification autonomous trucks (2014)
Brandes, U.: A faster algorithm for betweenness centrality. J. Math. Sociol. 25(2), 163–177 (2001)
Gossow, D., Leeper, A., Hershberger, D., Ciocarlie, M.: Interactive markers: 3-D user interfaces for ros applications [ROS topics]. IEEE Robot. Autom. Mag. 18(4), 14–15 (2011)
Coulter, R.C.: Implementation of the pure pursuit path tracking algorithm. Technical report, Carnegie-Mellon UNIV Pittsburgh PA Robotics INST (1992)
Simmons, R.: The curvature-velocity method for local obstacle avoidance. In: Proceedings of 1996 IEEE International Conference on Robotics and Automation, vol. 4, pp. 3375–3382. IEEE (1996)
Oron, E., Kumar, A., Bar-Shalom, Y.: Precision tracking with segmentation for imaging sensors. IEEE Trans. Aerosp. Electron. Syst. 29(3), 977–987 (1993)
Acknowledgment
This work has been partially funded by the Spanish MINECO/FEDER through the SmartElderlyCar project (TRA2015-70501-C2-1-R), the DGT through the SERMON project (SPIP2017-02305), and from the RoboCity2030-III-CM project (Robótica aplicada a la mejora de la calidad de vida de los ciudadanos, fase III; S2013/MIT-2748), funded by Programas de actividades I+D (CAM) and cofunded by EU Structural Funds.
Author information
Authors and Affiliations
Corresponding authors
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this paper
Cite this paper
Murciego, E. et al. (2019). Topological Road Mapping for Autonomous Driving Applications. In: Fuentetaja Pizán, R., García Olaya, Á., Sesmero Lorente, M., Iglesias Martínez, J., Ledezma Espino, A. (eds) Advances in Physical Agents. WAF 2018. Advances in Intelligent Systems and Computing, vol 855. Springer, Cham. https://doi.org/10.1007/978-3-319-99885-5_18
Download citation
DOI: https://doi.org/10.1007/978-3-319-99885-5_18
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-99884-8
Online ISBN: 978-3-319-99885-5
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)