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Motion planning in urban environments: Part II | IEEE Conference Publication | IEEE Xplore

Motion planning in urban environments: Part II


Abstract:

We present the motion planning framework for an autonomous vehicle navigating through urban environments. Such environments present a number of motion planning challenges...Show More

Abstract:

We present the motion planning framework for an autonomous vehicle navigating through urban environments. Such environments present a number of motion planning challenges, including ultra-reliability, high-speed operation, complex inter-vehicle interaction, parking in large unstructured lots, and constrained maneuvers. Our approach combines a model-predictive trajectory generation algorithm for computing dynamically-feasible actions with two higher-level planners for generating long range plans in both on-road and unstructured areas of the environment. In this Part II of a two-part paper, we describe the unstructured planning component of this system used for navigating through parking lots and recovering from anomalous on-road scenarios. We provide examples and results from ldquoBossrdquo, an autonomous SUV that has driven itself over 3000 kilometers and competed in, and won, the Urban Challenge.
Date of Conference: 22-26 September 2008
Date Added to IEEE Xplore: 14 October 2008
ISBN Information:

ISSN Information:

Conference Location: Nice, France

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