Real-Time Motion Planning With Applications to Autonomous Urban Driving

@article{Kuwata2009RealTimeMP,
  title={Real-Time Motion Planning With Applications to Autonomous Urban Driving},
  author={Yoshiaki Kuwata and Sertac Karaman and Justin Teo and Emilio Frazzoli and Jonathan P. How and Gaston A. Fiore},
  journal={IEEE Transactions on Control Systems Technology},
  year={2009},
  volume={17},
  pages={1105-1118}
}
This paper describes a real-time motion planning algorithm, based on the rapidly-exploring random tree (RRT) approach, applicable to autonomous vehicles operating in an urban environment. Extensions to the standard RRT are predominantly motivated by: 1) the need to generate dynamically feasible plans in real-time; 2) safety requirements; 3) the constraints dictated by the uncertain operating (urban) environment. The primary novelty is in the use of closed-loop prediction in the framework of RRT… CONTINUE READING
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