Title :
Planning for on-road driving through incrementally created graphs
Author :
Balakirsky, Stephen ; Scrapper, Chris
Author_Institution :
Nat. Inst. of Stand. & Technol., Gaithersburg, MD, USA
Abstract :
A general-purpose hierarchical planning framework that allows for cost-optimal, logic-constrained plans is presented. This framework is applied to planning an on-road path for an autonomous vehicle traveling amongst moving and stationary objects. Through this application, the ability to implement both hard and soft constraints, as well as cope with dynamic environments and user objectives are demonstrated.
Keywords :
automated highways; graph theory; planning; road vehicles; autonomous vehicle; cost optimal plan; dynamic environments; general purpose hierarchical planning; incremental graph planning framework; logic constrained plan; on road driving plan; on road path planning; Control system synthesis; Instruments; Mobile robots; Navigation; Path planning; Real time systems; Remotely operated vehicles; Road vehicles; Traffic control; Vehicle dynamics;
Conference_Titel :
Intelligent Transportation Systems, 2004. Proceedings. The 7th International IEEE Conference on
Print_ISBN :
0-7803-8500-4
DOI :
10.1109/ITSC.2004.1398894
