Robotics: Science and Systems IV
Planning Long Dynamically-Feasible Maneuvers For Autonomous Vehicles
Maxim Likhachev, Dave FergusonAbstract: 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 and control of the sub-optimality of its solution. We provide theoretical properties and experimental results from an implementation on an autonomous passenger vehicle that competed in, and completed, the Urban Challenge.
Bibtex:
@INPROCEEDINGS{Likhachev-RSS08, AUTHOR = {Maxim Likhachev, Dave Ferguson}, TITLE = {Planning Long Dynamically-Feasible Maneuvers For Autonomous Vehicles}, BOOKTITLE = {Proceedings of Robotics: Science and Systems IV}, YEAR = {2008}, ADDRESS = {Zurich, Switzerland}, MONTH = {June}, DOI = {10.15607/RSS.2008.IV.028} }