Motion Planning in Urban Environments: Part II
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 II of a two-part paper, we describe the unstructured planning component of this system used for navigating through parking lots and recovering from anomalous on-road scenarios. 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-2008-10080,author = {David Ferguson and Thomas Howard and Maxim Likhachev},
title = {Motion Planning in Urban Environments: Part II},
booktitle = {Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems},
year = {2008},
month = {September},
pages = {1070 - 1076},
}