On-Road Motion Planning for Autonomous Vehicles - Robotics Institute Carnegie Mellon University

On-Road Motion Planning for Autonomous Vehicles

Tianyu Gu and John M. Dolan
Conference Paper, Proceedings of 5th International Conference on Intelligent Robotics and Applications (ICIRA '12), pp. 588 - 597, October, 2012

Abstract

We present a motion planner for autonomous on-road driving, especially on highways. It adapts the idea of a on-road state lattice. A focused search is performed in the previously identified region in which the optimal trajectory is most likely to exist. The main contribution of this paper is a computationally efficient planner which handles dynamic environments generically. The Dynamic Programming algorithm is used to explore in spatiotemporal space and find a coarse trajectory solution first that encodes desirable maneuvers. Then a focused trajectory search is conducted using the ”generate-and-test” approach, and the best trajectory is selected based on the smoothness of the trajectory. Analysis shows that our scheme provides a principled way to focus trajectory sampling, thus greatly reduces the search space. Simulation results show robust performance in several challenging scenarios.

BibTeX

@conference{Gu-2012-7626,
author = {Tianyu Gu and John M. Dolan},
title = {On-Road Motion Planning for Autonomous Vehicles},
booktitle = {Proceedings of 5th International Conference on Intelligent Robotics and Applications (ICIRA '12)},
year = {2012},
month = {October},
pages = {588 - 597},
}