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Titel:

A Traffic Knowledge Aided Vehicle Motion Planning Engine Based on Space Exploration Guided Heuristic Search

Dokumenttyp:
Konferenzbeitrag
Autor(en):
Chen, Chao; Rickert, Markus; Knoll, Alois
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...     »
Kongress- / Buchtitel:
Proceedings of the IEEE Intelligent Vehicles Symposium (IV)
Jahr:
2014
Monat:
Jun
Seiten:
535--540
Volltext / DOI:
doi:10.1109/IVS.2014.6856458
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