Motion planning for urban driving using RRT

Y. Kuwata, G.A. Fiore, J. Teo, E. Frazzoli, J.P. How
2008 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems  
This paper provides a detailed analysis of the motion planning subsystem for the MIT DARPA Urban Challenge vehicle. The approach is based on the Rapidly-exploring Random Trees (RRT) algorithm. The purpose of this paper is to present the numerous extensions made to the standard RRT algorithm that enable the on-line use of RRT on robotic vehicles with complex, unstable dynamics and significant drift, while preserving safety in the face of uncertainty and limited sensing. The paper includes
more » ... s simulation and race results that clearly demonstrate the effectiveness of the planning system. Y. Kuwata was a Postdoctoral Associate in the
doi:10.1109/iros.2008.4651075 dblp:conf/iros/KuwataFTFH08 fatcat:62p6zjam7vc3hd4peiuhtrwele