Motion planning in urban environments: Part ii (2008)
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| Venue: | In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems |
| Citations: | 8 - 1 self |
BibTeX
@INPROCEEDINGS{Ferguson08motionplanning,
author = {Dave Ferguson and Thomas M. Howard and Maxim Likhachev},
title = {Motion planning in urban environments: Part ii},
booktitle = {In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems},
year = {2008},
pages = {1070--1076}
}
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Abstract
Abstract — We present the motion planning framework for an autonomous vehicle navigating through urban environments. Such environments present a number of motion planning challenges, including ultra-reliability, high-speed operation, complex inter-vehicle interaction, parking in large unstructured lots, and constrained maneuvers. Our approach combines a model-predictive trajectory generation algorithm for computing dynamically-feasible actions with two higher-level planners for generating long range plans in both on-road and unstructured areas of the environment. In this Part II of a two-part paper, we describe the unstructured planning component of this system used for navigating through parking lots and recovering from anomalous on-road scenarios. We provide examples and results from “Boss”, an autonomous SUV that has driven itself over 3000 kilometers and competed in, and won, the Urban Challenge. I.
