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IROS
2008
IEEE

Motion planning for urban driving using RRT

10 years 3 months ago
Motion planning for urban driving using RRT
— This paper provides a detailed analysis of the motion planning subsystem for the MIT DARPA Urban Challenge vehicle. The approach is based on the Rapidly-exploring Random Trees (RRT) algorithm. The purpose of this paper is to present the numerous extensions made to the standard RRT algorithm that enable the on-line use of RRT on robotic vehicles with complex, unstable dynamics and significant drift, while preserving safety in the face of uncertainty and limited sensing. The paper includes numerous simulation and race results that clearly demonstrate the effectiveness of the planning system.
Yoshiaki Kuwata, Gaston A. Fiore, Justin Teo, Emil
Added 31 May 2010
Updated 31 May 2010
Type Conference
Year 2008
Where IROS
Authors Yoshiaki Kuwata, Gaston A. Fiore, Justin Teo, Emilio Frazzoli, Jonathan P. How
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