• Corpus ID: 44065343

Safe learning-based optimal motion planning for automated driving

  title={Safe learning-based optimal motion planning for automated driving},
  author={Zlatan Ajanovic and Bakir Lacevic and Georg Stettinger and Daniel Watzenig and Martin Horn},
This paper presents preliminary work on learning the search heuristic for the optimal motion planning for automated driving in urban traffic. Previous work considered search-based optimal motion planning framework (SBOMP) that utilized numerical or model-based heuristics that did not consider dynamic obstacles. Optimal solution was still guaranteed since dynamic obstacles can only increase the cost. However, significant variations in the search efficiency are observed depending whether dynamic… 
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