Spline-Based Motion Planning for Autonomous Guided Vehicles in a Dynamic Environment

Dynamic motion planning of autonomous vehicles

This paper presents a method for planning the motions of autonomous vehicles moving on general terrains. The method obtains the geometric path and vehicle speeds that minimize motion time considering vehicle dynamics, terrain topography, obstacles, and surface mobility. The terrain is represented by a smooth cubic B patch, and the geometric path consists of a B spline curve mapped to the surfac...

On-Road Motion Planning for Autonomous Vehicles

We present a motion planner for autonomous on-road driving, especially on highways. It adapts the idea of a on-road state lattice. A focused search is performed in the previously identified region in which the optimal trajectory is most likely to exist. The main contribution of this paper is a computationally efficient planner which handles dynamic environments generically. The Dynamic Programm...

Dynamic Motion Planning of Autonomous Off-Road Vehicles

Sampling Based Motion Planning for Heavy Duty Autonomous Vehicles

The automotive industry is undergoing a revolution where the more traditional mechanical values are replaced by an ever increasing number of Advanced Driver Assistance Systems (ADAS) where advanced algorithms and software development are taking a bigger role. Increased safety, reduced emissions and the possibility of completely new business models are driving the development and most automotive...

Motion planning of autonomous vehicles in a non-autonomous vehicle environment without speed lanes

Planning is one of the key problems for autonomous vehicles operating in road scenarios. Present planning algorithms operate with the assumption that traffic is organized in predefined speed lanes, which makes it impossible to allow autonomous vehicles in countries with unorganized traffic. Unorganized traffic is though capable of higher traffic bandwidths when constituting vehicles vary in the...