Merit-Based Motion Planning for Autonomous Vehicles in Urban Scenarios

Merit-Based Motion Planning for Autonomous Vehicles in Urban Scenarios

Safe and adaptable motion planning for autonomous vehicles remains an open problem in urban environments, where the variability of situations and behaviors may become intractable using rule-based approaches. This work proposes a use-case-independent motion planning algorithm that generates a set of...

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Bibliographic Details
Main Authors: Juan Medina-Lee, Antonio Artuñedo, Jorge Godoy, Jorge Villagra
Format: Article
Language:English
Published: MDPI AG 2021-05-01
Series:Sensors
Subjects:
autonomous driving
motion planning
trajectory generation
speed profile
merit function
Online Access:https://www.mdpi.com/1424-8220/21/11/3755

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