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 3.3. In (A) we have the original path as provided by the global planner. Using this path as the input to the spline algorithm produces (B). Note that the distances between points in the spline are not constant. To solve this, we reparameterize the spline by arclength, by first producing a new path with equally spaced control points (C) and then computing the spline using those points (D).