A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2017; you can also visit the original URL.
The file type is application/pdf
.
Planning Long Dynamically-Feasible Maneuvers For Autonomous Vehicles
2008
Robotics: Science and Systems IV
In this paper, we present an algorithm for generating complex dynamically-feasible maneuvers for autonomous vehicles traveling at high speeds over large distances. Our approach is based on performing anytime incremental search on a multiresolution, dynamically-feasible lattice state space. The resulting planner provides real-time performance and guarantees on and control of the suboptimality of its solution. We provide theoretical properties and experimental results from an implementation on an
doi:10.15607/rss.2008.iv.028
dblp:conf/rss/LikhachevF08
fatcat:5envmh2bofc2nnyb5quf4wrs4y