Title:
Hierarchical motion planning with kinodynamic feasibility guarantees: Local trajectory planning via model predictive control

Thumbnail Image
Author(s)
Cowlagi, Raghvendra V.
Tsiotras, Panagiotis
Authors
Advisor(s)
Advisor(s)
Editor(s)
Associated Organization(s)
Series
Supplementary to
Abstract
Motion planners for autonomous vehicles often involve a two-level hierarchical structure consisting of a high-level, discrete planner and a low-level trajectory generation scheme. To ensure compatibility between these two levels of planning, we previously introduced a motion planning framework based on multiple-edge transition costs in the graph used by the discrete planner. This framework is enabled by a special local trajectory generation problem, which we address in this paper. In particular, we discuss a trajectory planner based on model predictive control for complex vehicle dynamical models. We demonstrate the efficacy of our overall motion planning approach via examples involving non-trivial vehicle models and complex environments, and we offer comparisons of our motion planner with state-of-the-art randomized sampling-based motion planners.
Sponsor
Date Issued
2012-05
Extent
Resource Type
Text
Resource Subtype
Post-print
Proceedings
Rights Statement
Rights URI