Lab Papers (GRASP)
Document Type
Conference Paper
Date of this Version
6-25-2008
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 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.
Recommended Citation
Maxim Likhachev and Dave Ferguson, "Planning Long Dynamically-Feasible Maneuvers For Autonomous Vehicles", . June 2008.
Date Posted: 01 October 2009
Comments
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.