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Seminar
Robotics Institute,
Carnegie Mellon University
Carnegie Mellon University
Motion Planning for the Urban Grand Challenge
Abstract We present the motion planning framework for Boss, Carnegie Mellon's winning entry in the Urban Grand Challenge. Urban environments present a number of motion planning challenges, including high-speed operation, complex inter-vehicle interaction, parking in large unstructured lots, and highly constrained maneuvers. Our approach combines a local planner that utilizes a model-based trajectory generation algorithm [...]