IEEE - Institute of Electrical and Electronics Engineers, Inc. - Motion planning for urban driving using RRT

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems

Author(s): Y. Kuwata ; G.A. Fiore ; J. Teo ; E. Frazzoli ; J.P. How
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 September 2008
Conference Location: Nice, France
Conference Date: 22 September 2008
Page(s): 1,681 - 1,686
ISBN (CD): 978-1-4244-2058-2
ISBN (Paper): 978-1-4244-2057-5
DOI: 10.1109/IROS.2008.4651075
Regular:

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... View More

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