Motion planning for urban driving using RRT

By Yoshiaki Kuwata, Gaston A. Fiore, Justin Teo, Emilio Frazzoli, Jonathan P. How. 2008

233 citations recorded by the source corpus.

This paper provides a detailed analysis of the motion planning subsystem for the MIT DARPA Urban Challenge vehicle. The approach is based on the Rapidly-exploring Random Trees (RRT) algorithm. The purpose of this paper is to present the numerous extensions made to the standard RRT algorithm that enable the on-line use of RRT on robotic vehicles with complex, unstable dynamics and significant drift, while preserving safety in the face of uncertainty and limited sensing. The paper includes numerous simulation and race results that clearly demonstrate the effectiveness of the planning system.

Subfields: Aerospace Engineering, Automotive Engineering, Computer Vision and Pattern Recognition, Robotics & Control

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Citations in the corpus

Habitat 2.0: Training Home Assistants to Rearrange their Habitat (2021, background): “[85] Yoshiaki Kuwata, Gaston A Fiore, Justin Teo, Emilio Frazzoli, and Jonathan P How.”
Local Path Planning for Off-Road Autonomous Driving With Avoidance of Static Obstacles (2012, background): “RRT-based planning algorithms for real-time implementations require efficient guiding heuristics for the sampling configuration [9], [13]–[16].”
Optimal trajectory generation for dynamic street scenarios in a Frenét Frame (2010, methodology): “In [9], a tree of trajectories is sampled by simulating the closed loop system using the rapidly exploring random tree algorithm [10].”
Learning Model Predictive Control for Iterative Tasks. A Data-Driven Control Framework (2016, unknown): “For efficient techniques to compute collision-free trajectories in the presence of obstacle, we refer to [25], [26], and [27].”
Optimization‐based autonomous racing of 1:43 scale RC cars (2015, methodology): “In [7] several approaches to this problem are presented, for example based on model predictive trajectory generation algorithms [31], modiﬁed A (cid:63) -algorithms [32] or RRTs [33].”