Motion Planning for Urban Driving using RRT

被引：138

作者：

Kuwata, Yoshiaki ^{[1
]}

Fiore, Gaston A. ^{[1
]}

Teo, Justin ^{[1
]}

Frazzoli, Emilio ^{[2
]}

How, Jonathan P. ^{[2
]}

机构：

[1] MIT, Dept Aeronaut & Astronaut, Cambridge, MA 02139 USA

[2] MIT, Fac Dept Aeronaut & Astronaut, Cambridge, MA USA

来源：

2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS | 2008年

关键词：

D O I：

10.1109/IROS.2008.4651075

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper provides a detailed analysis of the motion planning subsystem for the MIT DARPA Urban Challenge vehicle. The approach is based on the Rapidly-exploring Random Trees (RRT) algorithm. The purpose of this paper is to present the numerous extensions made to the standard RRT algorithm that enable the on-line use of RRT on robotic vehicles with complex, unstable dynamics and significant drift, while preserving safety in the face of uncertainty and limited sensing. The paper includes numerous simulation and race results that clearly demonstrate the effectiveness of the planning system.

引用

页码：1681 / +

页数：2

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