Planning Long Dynamically-Feasible Maneuvers for Autonomous Vehicles

  title={Planning Long Dynamically-Feasible Maneuvers for Autonomous Vehicles},
  author={Oliver Brock and Jeffrey C. Trinkle and Fabio Tozeto Ramos},
In this paper, we present an algorithm for generating complex dynamically-feasible maneuvers for autonomous vehicles traveling at high speeds over large distances. Our approach is based on performing anytime incremental search on a multiresolution, dynamically-feasible lattice state space. The resulting planner provides real-time performance and guarantees on and control of the suboptimality of its solution. We provide theoretical properties and experimental results from an implementation on an… 

Planning Long Dynamically Feasible Maneuvers for Autonomous Vehicles

An algorithm for generating complex dynamically feasible maneuvers for autonomous vehicles traveling at high speeds over large distances based on performing anytime incremental search on a multi-resolution, dynamically feasible lattice state space is presented.

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