Optimal motion planning with the half-car dynamical model for autonomous high-speed driving

Optimal motion planning with the half-car dynamical model for autonomous high-speed driving

We discuss an implementation of the RRT* optimal motion planning algorithm for the half-car dynamical model to enable autonomous high-speed driving. To develop fast solutions of the associated local steering problem, we observe that the motion of a special point (namely, the front center of oscillat...

Full description

Bibliographic Details
Main Authors: Jeon, Jeong hwan (Contributor), Cowlagi, Raghvendra V. (Author), Peters, Steven C. (Author), Karaman, Sertac (Contributor), Frazzoli, Emilio (Contributor), Tsiotras, Panagiotis (Author), Iagnemma, Karl (Contributor)
Other Authors: Massachusetts Institute of Technology. Department of Aeronautics and Astronautics (Contributor), Massachusetts Institute of Technology. Department of Mechanical Engineering (Contributor), Massachusetts Institute of Technology. Laboratory for Manufacturing and Productivity (Contributor)
Format: Article
Language:English
Published: Institute of Electrical and Electronics Engineers (IEEE), 2013-10-29T16:49:06Z.
Subjects:
Article
Online Access:Get fulltext

Internet

Get fulltext

Similar Items