Real-Time Motion Planning and Autonomous Driving
نویسنده
چکیده
منابع مشابه
On-Road Trajectory Planning for General Autonomous Driving with Enhanced Tunability
In order to achieve smooth autonomous driving in real-life urban and highway environments, a motion planner must generate trajectories that are locally smooth and responsive (reactive), and at the same time, far-sighted and intelligent (deliberative). Prior approaches achieved both planning qualities for full-speed-range operations at a high computational cost. Moreover, the planning formulatio...
متن کاملDrivers’ Visual Behavior-Guided RRT Motion Planner for Autonomous On-Road Driving
This paper describes a real-time motion planner based on the drivers' visual behavior-guided rapidly exploring random tree (RRT) approach, which is applicable to on-road driving of autonomous vehicles. The primary novelty is in the use of the guidance of drivers' visual search behavior in the framework of RRT motion planner. RRT is an incremental sampling-based method that is widely used to sol...
متن کاملOptimization Based Obstacle Avoidance
Based on a non-linear single track model which describes the dynamics of vehicle, an optimal path planning strategy is developed. Real time optimization is used to generate reference control values to allow leading the vehicle alongside a calculated lane which is optimal for different objectives such as energy consumption, run time, safety or comfort characteristics. Strict mathematic formulati...
متن کاملDevelopment of an Autonomous Vehicle for High-Speed Navigation and Obstacle Avoidance
This paper introduces the autonomous vehicle Pharos, which participated in the 2010 Autonomous Vehicle Competition organized by Hyundai-Kia motors. Pharos was developed for high-speed on/off-road unmanned driving avoiding diverse patterns of obstacles. For the high speed traveling up to 60 Km/h, long range terrain perception, real-time path planning and high speed vehicle motion control algorit...
متن کاملA Behavior-Based Path Planning for Autonomous Vehicle
The path planning is one of the key issues of autonomous vehicle. In this paper, a behavior-based method is used for path planning. This method can manage complexity environment and is easy to design and test behaviors. An autonomous electric vehicle is tested in a driving course including the behaviors of road following, turning, obstacle avoidance and emergency braking. The test results show ...
متن کامل