Motion Planning for Urban Autonomous Bus Considering Localization Uncertainty Using Offset-Free MPC

Motion Planning for Urban Autonomous Bus Considering Localization Uncertainty Using Offset-Free MPC

This study proposes a novel motion planning strategy to address localization uncertainty in autonomous buses. Conventional motion planning algorithms utilize information from high-definition (HD) maps to overcome the limited detection range of on-board sensors. However, this information contains unc...

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Bibliographic Details
Main Authors: Ara Jo, Woojin Kwon, Kyongsu Yi
Format: Article
Language:English
Published: IEEE 2024-01-01
Series:IEEE Access
Subjects:
Autonomous bus
autonomous driving
chance-constrained model predictive control
localization uncertainty
moving horizon estimation
offset-free model predictive control
Online Access:https://ieeexplore.ieee.org/document/10401884/

Internet

https://ieeexplore.ieee.org/document/10401884/

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