Motion Planning in Urban Environments: Part I
Abstract
We present the motion planning framework for an autonomous vehicle navigating through urban environments. Such environments present a number of motion planning challenges, including ultra-reliability, high-speed operation, complex inter-vehicle interaction, parking in large unstructured lots, and constrained maneuvers. Our approach combines a model-predictive trajectory generation algorithm for computing dynamically-feasible actions with two higher-level planners for generating long range plans in both on-road and unstructured areas of the environment. In this Part I of a two-part paper, we describe the underlying trajectory generator and the on-road planning component of this system. We provide examples and results from "Boss", an autonomous SUV that has driven itself over 3000 kilometers and competed in, and won, the Urban Challenge.
BibTeX
@conference{Ferguson-2008-10079,author = {David Ferguson and Thomas Howard and Maxim Likhachev},
title = {Motion Planning in Urban Environments: Part I},
booktitle = {Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems},
year = {2008},
month = {September},
pages = {1063 - 1069},
}