The DOI matches its Crossref record; 2 of the 2 references it cites were found in a registry or an index.
Motion planning in urban environments
Abstract
We present the motion planning framework for an autonomous vehicle navigating through urban environments. Such environments present a number of motion planning challenges, including ultrareliability, high‐speed operation, complex intervehicle interaction, parking in large unstructured lots, and constrained maneuvers. Our approach combines a model‐predictive trajectory generation algorithm for computing dynamically feasible actions with two higher level planners for generating long‐range plans in both on‐road and unstructured areas of the environment. In the first part of this article, we describe the underlying trajectory generator and the on‐road planning component of this system. We then describe the unstructured planning component of this system used for navigating through parking lots and recovering from anomalous on‐road scenarios. Throughout, we provide examples and results from “Boss” an autonomous sport utility vehicle that has driven itself over 3,000 km and competed in, and won, the DARPA Urban Challenge. © 2008 Wiley Periodicals, Inc.
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Citations
Cites
Real-Time Obstacle Avoidance for Manipulators and Mobile Robots
Khatib, O. (1986) · The International Journal of Robotics Research · doi:10.1177/027836498600500106 · Cited by 7,894
Autonomous driving in urban environments: Boss and the Urban Challenge
Urmson, C., Anhalt, J., Bagnell, D., Baker, C., Bittner, R., Clark, M. N., Dolan, J., Duggins, D., Galatali, T., Geyer, C., et al. (2008) · Journal of Field Robotics · doi:10.1002/rob.20255 · Cited by 1,555
Self-citation
Cited by
A Review of Motion Planning Techniques for Automated Vehicles
Gonzalez, D., Perez, J., Milanes, V., & Nashashibi, F. (2016) · IEEE Transactions on Intelligent Transportation Systems · doi:10.1109/tits.2015.2498841 · Cited by 1,670
Planning and Decision-Making for Autonomous Vehicles
Schwarting, W., Alonso-Mora, J., & Rus, D. (2018) · Annual Review of Control, Robotics, and Autonomous Systems · doi:10.1146/annurev-control-060117-105157 · Cited by 972
Milakis, D., van Arem, B., & van Wee, B. (2017) · Journal of Intelligent Transportation Systems · doi:10.1080/15472450.2017.1291351 · Cited by 963
Perception, Planning, Control, and Coordination for Autonomous Vehicles
Pendleton, S., Andersen, H., Du, X., Shen, X., Meghjani, M., Eng, Y., Rus, D., & Ang, M. (2017) · Machines · doi:10.3390/machines5010006 · Cited by 657
Optimization‐based autonomous racing of 1:43 scale RC cars
Liniger, A., Domahidi, A., & Morari, M. (2015) · Optimal Control Applications and Methods · doi:10.1002/oca.2123 · Cited by 537
Metadata
- Authors
- Ferguson, D., Howard, T. M., & Likhachev, M.
- Venue
- Journal of Field Robotics
- Publisher
- Wiley
- Published
- 2008-11
- Volume
- 25
- Issue
- 11-12
- Pages
- 939-960
- ISSN
- 1556-4959 (ISSN-L)
- 1556-4967
- OpenAlex
- W3083764925
- Cited by
- 186
- References
- 2
- FWCI
- 3.82
- Type
- journal article
- Language
- en
- Open access
- closed
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