Date of Original Version

9-2015

Type

Conference Proceeding

Rights Management

© 2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.

Abstract or Description

This paper investigates real-time on-road motion planning algorithms for autonomous passenger vehicles (APV) in urban environments, and propose a computationally efficient planning formulation. Two key properties, tunability and stability, are emphasized when designing the proposed planner. The main contributions of this paper are: · A computationally efficient decoupled space-time trajectory planning structure. · The formulation of optimization-free elastic-band-based path planning and speed-constraint-based temporal planning routines with pre-determined runtime. · Identification of continuity problems with previous cost-based planners that cause tunability and stability issues.

DOI

10.1109/IROS.2015.7353382

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Published In

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015, 250-256.