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...
Main Authors: | Kuwata, Yoshiaki, Teo, Justin, 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
2011
|
Online Access: | http://hdl.handle.net/1721.1/65396 https://orcid.org/0000-0001-8576-1930 https://orcid.org/0000-0002-0505-1400 https://orcid.org/0000-0002-2225-7275 |
Similar Items
-
Real-Time Motion Planning With Applications to Autonomous Urban Driving
by: Kuwata, Yoshiaki, et al.
Published: (2010) -
A robust motion planning approach for autonomous driving in urban areas
by: Fiore, Gaston A
Published: (2009) -
Sampling-based algorithms for optimal motion planning
by: Karaman, Sertac, et al.
Published: (2013) -
Sampling-based motion planning with deterministic mu-calculus specifications
by: Karaman, Sertac, et al.
Published: (2010) -
Sampling-based motion planning with deterministic u-calculus specifications
by: Karaman, Sertac, et al.
Published: (2010)