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Document type:
Konferenzbeitrag 
Author(s):
Chen, Chao; Rickert, Markus; Knoll, Alois 
Title:
A Traffic Knowledge Aided Vehicle Motion Planning Engine Based on Space Exploration Guided Heuristic Search 
Abstract:
A real-time vehicle motion planning engine is presented in this paper, with the focus on exploiting the prior and online traffic knowledge, e.g., predefined roadmap, prior environment information, behaviour-based motion primitives, within the space exploration guided heuristic search (SEHS) framework. The SEHS algorithm plans a kinodynamic vehicle motion in two steps: a geometric investigation of the free space, followed by a grid-free heuristic search employing primitive motions. These two proc...    »
 
Book / Congress title:
Proceedings of the IEEE Intelligent Vehicles Symposium (IV) 
Year:
2014 
Month:
Jun 
Pages:
535--540