Lab Meeting July 22th, 2008 (fish60): Planning Long Dynamically-Feasible Maneuvers for Autonomous Vehicles

Maxim Likhachev and Dave Ferguson
Proceedings of the Robotics: Science and Systems Conference (RSS), 2008

Abstract:
In this paper, we present an algorithm for generating complex dynamically-feasible maneuvers for autonomous vehicles traveling at high speeds over large distances. Our approachis based on performing anytime incremental search on a multi-resolution, dynamically-feasible lattice state space. The resulting planner provides real-time performance and guarantees on and control of the sub-optimality of its solution.

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