Clustering obstacle predictions to improve contingency planning for autonomous road vehicles in congested environments


A hierarchical trajectory clustering algorithm is presented with the goal of clustering a set of mutually exclusive obstacle trajectory predictions for use in a contingency based path planner for an autonomous road vehicle. This clustering algorithm improves the computational scaling of the contingency planner by limiting the total number of required… (More)
DOI: 10.1109/IROS.2011.6094952

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