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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.
Likhachev, Maxim and Ferguson, Dave, "Planning Long Dynamically-Feasible Maneuvers For Autonomous Vehicles" (2008). Lab Papers (GRASP). Paper 26.
Date Posted: 01 October 2009