Motion planning under uncertainty for on-road autonomous driving

  title={Motion planning under uncertainty for on-road autonomous driving},
  author={Wenda Xu and Jia Pan and Junqing Wei and John M. Dolan},
  journal={2014 IEEE International Conference on Robotics and Automation (ICRA)},
We present a motion planning framework for autonomous on-road driving considering both the uncertainty caused by an autonomous vehicle and other traffic participants. The future motion of traffic participants is predicted using a local planner, and the uncertainty along the predicted trajectory is computed based on Gaussian propagation. For the autonomous vehicle, the uncertainty from localization and control is estimated based on a Linear-Quadratic Gaussian (LQG) framework. Compared with other… CONTINUE READING
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