Planning Long Dynamically Feasible Maneuvers for Autonomous Vehicles
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- 26 June 2009
- journal article
- Published by SAGE Publications in The International Journal of Robotics Research
- Vol. 28 (8), 933-945
- https://doi.org/10.1177/0278364909340445
Abstract
In this paper, we present an algorithm for generating complex dynamically feasible maneuvers for autonomous vehicles traveling at high speeds over large distances. Our approach is based on performing anytime incremental search on a multi-resolution, dynamically feasible lattice state space. The resulting planner provides real-time performance and guarantees on and control of the suboptimality of its solution. We provide theoretical properties and experimental results from an implementation on an autonomous passenger vehicle that competed in, and won, the Urban Challenge competition.Keywords
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