Hybrid Strategy of Motion Planning with Kinematic Optimization for Autonomous Driving
| Autor: | Ning Wu, Susu Yao, Qun Zhang, Zhiwei Song, Weiwei Huang, Xiaojun Wu |
|---|---|
| Rok vydání: | 2015 |
| Předmět: |
Engineering
Inverse kinematics business.industry ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION Control engineering Kinematics Motion control Motion (physics) Computer Science::Robotics Dynamic programming Control theory Path (graph theory) Differential dynamic programming Motion planning business ComputingMethodologies_COMPUTERGRAPHICS |
| Zdroj: | ITSC |
| DOI: | 10.1109/itsc.2015.270 |
| Popis: | Autonomous driving has revolutionized the conventional driving. In this paper, we present our motion planner for autonomous driving. Two main issues of motion planning are addressed in the paper: kinematical feasibility and consistence of motion control. The kinematical feasibility is achieved by a prediction engine, which generates a reference path for vehicle to follow based on vehicle kinematic model. The core of the engine is based on a differential dynamic programming (DDP) optimization. The consistence of motion control is solved by a hybrid motion planning strategy, which also considers the previous reference path in the motion planning. The proposed method is verified on our autonomous vehicle platform driving on a public road and performing vehicle avoidance. |
| Databáze: | OpenAIRE |
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