Self-driving cars have the potential to revolutionize transportation by making it cheaper, safer, and more efficient. In this thesis we describe a novel motion planning system, which translates high-level navigation goals into low-level actions for controlling a vehicle. Specifically, the motion planning system is responsible for choosing at each time step an appropriate velocity and steering angle, which can then be implemented by the driving hardware or simulator. Our planner is able to… CONTINUE READING
Figure 3.1. This diagram demonstrates Ackermann steering. The car is at point p with θ = 0 and is executing a right turn with steering angle φ. The vectors ~u and ~n are its tangent and normal respectively. l and w are the length and width or the car.