Motion planning
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2023-01-01
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Elsevier
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Motion planning is responsible for computing a safe, comfortable, and dynamically feasible trajectory from the automated vehicle's current state to the goal configuration provided by the behavioral layer of the decision-making system. It considers information about static and dynamic obstacles around the vehicle and generates a collision-free trajectory that satisfies dynamic and kinematic constraints on the motion of the vehicle. This chapter defines the problem and provides a complete overview of the different existing techniques to obtain (i) appropriate paths along the drivable space; and (ii) the most suitable speed profile to follow that path. Although path planning is a well-established discipline in robotics, the focus of the chapter is on describing the different approaches under the perspective, needs, and constraints of on-road vehicles.
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Publisher Copyright: © 2023 Elsevier Inc. All rights reserved.
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Villagra , J , Jiménez , F , Pérez , J , Garcia-Daza , I , Artuñedo , A , Clavijo , M , Díaz-Álvarez , A , Fernandez-Lorca , D , Lattarulo , R A , Matute , J Á , Godoy , J , Izquierdo-Gonzalo , R & Alonso , M 2023 , Motion planning . in Decision-Making Techniques for Autonomous Vehicles . Elsevier , pp. 117-167 . https://doi.org/10.1016/B978-0-323-98339-6.00015-4