DocumentCode
3233185
Title
Action annotated trajectory generation for autonomous maneuvers on structured road networks
Author
Wang, Miao ; Ganjineh, Tinosch ; Rojas, Raúl
Author_Institution
Artificial Intell. Group, Freie Univ. Berlin, Berlin, Germany
fYear
2011
fDate
6-8 Dec. 2011
Firstpage
67
Lastpage
72
Abstract
This paper presents a simple path-planning method with low computational cost for autonomous vehicles driving on structured road networks. Characteristics of the road structure are exploited for efficient planning and evaluation. Instead of using a global state machine, necessary actions for maneuvers are generated online and are annotated into the trajectory itself. The method has been tested with our vehicle “MadeInGermany” over several thousand kilometers driving autonomously in urban city scenarios and highway tracks.
Keywords
finite state machines; mobile robots; path planning; road vehicles; trajectory control; MadeInGermany; action annotated trajectory generation; autonomous maneuvers; autonomous vehicles; global state machine; mobile robots; path-planning method; structured road networks; Mobile robots; Planning; Roads; Spline; Trajectory; Vehicles;
fLanguage
English
Publisher
ieee
Conference_Titel
Automation, Robotics and Applications (ICARA), 2011 5th International Conference on
Conference_Location
Wellington
Print_ISBN
978-1-4577-0329-4
Type
conf
DOI
10.1109/ICARA.2011.6144858
Filename
6144858
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