Lab Papers (GRASP)

Document Type

Conference Paper

Date of this Version



Maxim Likhachev and Dave Ferguson, " Planning Long Dynamically-Feasible Maneuvers For Autonomous Vehicles, " Proceedings of the Robotics: Science and Systems Conference Robotics: Science and Systems (RSS) IV, June 25-28, 2008. Eidgenössiche Technische Hochschule Zürich (ETHZ), Zurich, Switzerland.


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.



Date Posted: 01 October 2009