Introduction to Algorithms: A Creative Approach
Introduction to Algorithms: A Creative Approach
Optimal Rough Terrain Trajectory Generation for Wheeled Mobile Robots
International Journal of Robotics Research
Team AnnieWAY's autonomous system for the 2007 DARPA Urban Challenge
Journal of Field Robotics - Special Issue on the 2007 DARPA Urban Challenge, Part II
The focussed D* algorithm for real-time replanning
IJCAI'95 Proceedings of the 14th international joint conference on Artificial intelligence - Volume 2
From Reeds and Shepp's to continuous-curvature paths
IEEE Transactions on Robotics
Quintic G2-splines for the iterative steering of vision-based autonomous vehicles
IEEE Transactions on Intelligent Transportation Systems
On-Road motion planning for autonomous vehicles
ICIRA'12 Proceedings of the 5th international conference on Intelligent Robotics and Applications - Volume Part III
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We present a method for motion planning in the presence of moving obstacles that is aimed at dynamic on-road driving scenarios. Planning is performed within a geometric graph that is established by sampling deterministically from a manifold that is obtained by combining configuration space and time. We show that these graphs are acyclic and shortest path algorithms with linear runtime can be employed. By reparametrising the configuration space to match the course of the road, it can be sampled very economically with few vertices, and this reduces absolute runtime further. The trajectories generated are quintic splines. They are second order continuous, obey nonholonomic constraints and are optimised for minimum square of jerk. Planning time remains below 20 ms on general purpose hardware.