Planning Long Dynamically-Feasible Maneuvers For Autonomous Vehicles

Maxim Likhachev, Dave Ferguson
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
more » ... autonomous passenger vehicle that competed in, and won, the Urban Challenge competition.
doi:10.15607/rss.2008.iv.028 dblp:conf/rss/LikhachevF08 fatcat:5envmh2bofc2nnyb5quf4wrs4y