Real-Time Motion Planning With Applications to Autonomous Urban Driving

Real-Time Motion Planning With Applications to Autonomous Urban Driving

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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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Bibliographic Details
Main Authors: Kuwata, Yoshiaki, Teo, Justing, Fiore, Gaston A., Karaman, Sertac, Frazzoli, Emilio, How, Jonathan P.
Other Authors: Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Format: Article
Language:en_US
Published: Institute of Electrical and Electronics Engineers 2010
Subjects:
urban driving
real-time motion planning
rapidly-exploring random tree (RRT)
dynamic and uncertain environment
DARPA urban challenge
autonomous
Online Access: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

Internet

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

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