Motion planning in urban environments: Part I

@article{Ferguson2008MotionPI,
  title={Motion planning in urban environments: Part I},
  author={Dave Ferguson and Thomas M. Howard and Maxim Likhachev},
  journal={2008 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2008},
  pages={1063-1069}
}
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… CONTINUE READING
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