Local motion planning method using closed-loop forward simulation for autonomous vehicle
| Autor: | Woo Young Han, Ki-In Na, Jaemin Byun, Byungjae Park |
|---|---|
| Rok vydání: | 2016 |
| Předmět: |
0209 industrial biotechnology
Occupancy grid mapping Computer science 020206 networking & telecommunications 02 engineering and technology Computer Science::Robotics 020901 industrial engineering & automation Lidar Control theory 0202 electrical engineering electronic engineering information engineering Trajectory Motion planning Closed loop Simulation |
| Zdroj: | SMC |
| DOI: | 10.1109/smc.2016.7844532 |
| Popis: | This paper proposes a motion planning method for an autonomous vehicle in an urban environment. The proposed method generates trajectories using the closed-loop forward simulation (CLFS), which can consider various properties of an autonomous vehicle. The safeties of the generated trajectories are evaluated using an occupancy grid map. Using the proposed method, smooth and safe trajectories can be generated. The experiment in a real urban environment was conducted to verify the performance of the proposed method. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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