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Planning Long Dynamically Feasible Maneuvers for Autonomous Vehicles

¹ Computer and Information Science, University of Pennsylvania, Philadelphia, PA, USA
² Two Sigma Investments, New York, NY, USA

^* To whom correspondence should be addressed. E-mail: maximl{at}seas.upenn.edu.

	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 on and control of the suboptimality of its solution. We provide theoretical properties and experimental results from an implementation on an autonomous passenger vehicle that competed in, and won, the Urban Challenge competition.

First published on June 26, 2009, doi:10.1177/0278364909340445

The International Journal of Robotics Research 2009;28:933.

A more recent version of this article appeared on August 1, 2009


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