Robotics: Science and Systems IV

Planning Long Dynamically-Feasible Maneuvers For Autonomous Vehicles

Maxim Likhachev, Dave Ferguson

Abstract: In this paper, we present an algorithm for generating complex dynamically-feasible maneuvers for autonomous vehicles traveling at high speeds over large distances. Our approach is based on performing anytime incremental search on a multi-resolution, dynamically-feasible lattice state space. The resulting planner provides real-time performance and guarantees and control of the sub-optimality of its solution. We provide theoretical properties and experimental results from an implementation on an autonomous passenger vehicle that competed in, and completed, the Urban Challenge.



    AUTHOR    = {Maxim Likhachev, Dave Ferguson},
    TITLE     = {Planning Long Dynamically-Feasible Maneuvers For Autonomous Vehicles},
    BOOKTITLE = {Proceedings of Robotics: Science and Systems IV},
    YEAR      = {2008},
    ADDRESS   = {Zurich, Switzerland},
    MONTH     = {June},
    DOI       = {10.15607/RSS.2008.IV.028}