Real-Time Motion Planning With Applications to Autonomous Urban Driving
This paper describes a real-time motion planning algorithm, based on the rapidly-exploring random tree (RRT) approach, applicable to autonomous vehicles operating in an urban environment. Extensions to the standard RRT are predominantly motivated by: 1) the need to generate dynamically feasible plan...
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格式: | 文件 |
语言: | en_US |
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Institute of Electrical and Electronics Engineers
2010
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在线阅读: | http://hdl.handle.net/1721.1/52527 https://orcid.org/0000-0001-8576-1930 https://orcid.org/0000-0002-0505-1400 https://orcid.org/0000-0002-2225-7275 |