Local path planning for off-road autonomous driving with avoidance of static obstacles

IEEE Transactions on Intelligent Transportation Systems

Volumn 13, Issue 4, 2012, Pages 1599-1616

  Chu, Keonyup ^a   Lee, Minchae ^a   Sunwoo, Myoungho ^a  

^a Hanyang University   (South Korea)

Author keywords

Autonomous vehicle; nonholonomic constraints; obstacle avoidance; real time path planning; static obstacles

Indexed keywords

AUTOMOTIVE GROUPS; AUTONOMOUS DRIVING; AUTONOMOUS VEHICLES; AUTONOMOUS-VEHICLE COMPETITION; CARTESIAN COORDINATE SYSTEM; CURVILINEAR COORDINATE SYSTEMS; LOCAL PATH-PLANNING; NON HOLONOMIC CONSTRAINT; OPTIMAL PATHS; PATH CONSISTENCY; PATH-BASED; PATH-PLANNING ALGORITHM; PLANNING ALGORITHMS; SAFETY COSTS; STATIC OBSTACLES; WAYPOINTS;

ALGORITHMS; COLLISION AVOIDANCE; OPTIMIZATION; ROADS AND STREETS;

MOTION PLANNING;

EID: 84870559556     PISSN: 15249050     EISSN: None     Source Type: Journal    
DOI: 10.1109/TITS.2012.2198214     Document Type: Article

References (37)

1. S. Glaser, B. Vanholme, S. Mammar, D. Gruyer, and L. Nouvelière, "Maneuver-based trajectory planning for highly autonomous vehicles on real road with traffic and driver interaction, " IEEE Trans. Intell. Transp. Syst., vol. 11, no. 3, pp. 589-606, Sep. 2010.
2. Ü. Özgüner, C. Stiller, and K. Redmill, "Systems for safety and autonomous behavior in cars: The DARPA Grand Challenge experience, " Proc. IEEE, vol. 95, no. 2, pp. 397-412, Feb. 2007.
3. J. Hwang, D. Lee, K. Huh, H. Na, and H. Kang, "Development of a path planning system using mean shift algorithm for driver assistance, " Int. J. Autom. Technol., vol. 12, no. 1, pp. 119-124, Feb. 2011.
4. M. Buehler, K. Iagnemma, and S. Singh, The 2005 DARPA Grand Challenge: The Great Robot Race. New York: Springer-Verlag, 2007.
5. M. Buehler, K. Iagnemma, and S. Singh, The DARPA Urban Challenge: Autonomous Vehicles in City Traffic. New York: Springer-Verlag, 2010.
6. S. Thrun, M. Montemerlo, H. Dahlkamp, D. Stavens, A. Aron, J. Diebel, P. Fong, J. Gale, M. Halpenny, G. Hoffmann, K. Lau, C. Oakley, M. Palatucci, V. Pratt, P. Stang, S. Strohband, C. Dupont, L. E. Jendrossek, C. Koelen, C. Markey, C. Rummel, J. van Niekerk, E. Jensen, P. Alessandrini, G. Bradski, B. Davies, S. Ettinger, A. Kaehler, A. Nefian, and P. Mahoney, "Stanley: The robot that won the DARPA Grand Challenge, " J. Field Robot., vol. 23, no. 9, pp. 661-692, Sep. 2006. (Pubitemid 44566835)
7. C. Urmson, J. Anhalt, D. Bagnell, C. Baker, R. Bittner, M. N. Clark, J. Dolan, D. Duggins, T. Galatali, C. Geyer, M. Gittleman, S. Harbaugh, M. Hebert, T. M. Howard, S. Kolski, A. Kelly, M. Likhachev, M. McNaughton, N. Miller, K. Peterson, B. Pilnick, R. Rajkumar, P. Rybski, B. Salesky, Y. W. Seo, S. Singh, J. Snider, A. Stentz, W. Whittaker, Z. Wolkowicki, J. Ziglar, H. Bae, T. Brown, D. Demitrish, B. Litkouhi, J. Nickolaou, V. Sadekar, W. Zhang, J. Struble, M. Taylor, M. Darms, and D. Ferguson, "Autonomous driving in urban environments: Boss and the urban challenge, " J. Field Robot., vol. 25, no. 8, pp. 425-466, Aug. 2008.
8. S. Waydo and R. M. Murray, "Vehicle motion planning using stream functions, " in Proc. Int. Conf. Robot. Autom., 2003, pp. 2484-2491.
9. H. M. Choset, Principles of Robot Motion: Theory, Algorithms, and Implementation. Cambridge, MA: MIT Press, 2005.
10. D. Dolgov, S. Thrun, M. Montemerlo, and J. Diebel, "Path planning for autonomous vehicles in unknown semistructured environments, " Int. J. Robot. Res., vol. 29, no. 5, pp. 485-501, Apr. 2010.
11. D. Ferguson and A. Stentz, "The field d? algorithm for improved path planning and replanning in uniform and nonuniform cost environments, " Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA, Tech. Rep. CMU-RITR-05-19, 2005.
12. M. Pivtoraiko, R. A. Knepper, and A. Kelly, "Differentially constrained mobile robot motion planning in state lattices, " J. Field Robot., vol. 26, no. 3, pp. 308-333, Mar. 2009.
13. Y. Kuwata, G. A. Fiore, J. Teo, E. Frazzoli, and J. P. How, "Motion planning for urban driving using RRT, " in Proc. Int. Conf. Intell. Robots Syst., 2008, pp. 1681-1686.
14. S. M. LaValle, Planning Algorithms. Cambridge, U. K.: Cambridge Univ. Press, 2006.
15. S. M. LaValle and J. J. Kuffner, Jr, "Randomized kinodynamic planning, " Int. J. Robot. Res., vol. 20, no. 5, pp. 378-400, May 2001. (Pubitemid 32813681)
16. Y. Kuwata, J. Teo, G. Fiore, S. Karaman, E. Frazzoli, and J. How, "Real-time motion planning with applications to autonomous urban driving, " IEEE Trans. Control Syst. Technol., vol. 17, no. 5, pp. 1105-1118, Sep. 2009.
17. M. Montemerlo, J. Becker, S. Shat, H. Dahlkamp, D. Dolgov, S. Ettinger, D. Haehnel, T. Hilden, G. Hoffmann, B. Huhnke, D. Johnston, S. Klumpp, D. Langer, A. Levandowski, J. Levinson, J. Marcil, D. Orenstein, J. Paefgen, I. Penny, A. Petrovskaya, M. Pflueger, G. Stanek, D. Stavens, A. Vogt, and S. Thrun, "Junior: The Stanford entry in the urban challenge, " J. Field Robot., vol. 25, no. 9, pp. 569-597, Sep. 2008.
18. M. Werling, J. Ziegler, S. Kammel, and S. Thrun, "Optimal trajectory generation for dynamic street scenarios in a Frenét frame, " in Proc. ICRA, 2010, pp. 987-993.
19. D. Ferguson, T. M. Howard, and M. Likhachev, "Motion planning in urban environments, " J. Field Robot., vol. 25, no. 11/12, pp. 939-960, 2008.
20. K. Jo, K. Chu, K. Lee, and M. Sunwoo, "Integration of multiple vehicle models with an IMM filter for vehicle localization, " in Proc. IEEE IV Symp., San Diego, CA, 2010, pp. 746-751.
21. K. Jo, K. Chu, and M. Sunwoo, "Interacting multiple model filter-based sensor fusion of GPS with in-vehicle sensors for real-time vehicle positioning, " IEEE Trans. Intell. Transp. Syst., vol. 13, no. 1, pp. 329-343, Mar. 2012.
22. J. Han, D. Kim, M. Lee, and M. Sunwoo, "Enhanced road boundary and obstacle detection using a downward-looking LIDAR sensor, " IEEE Trans. Veh. Technol., vol. 61, no. 3, pp. 971-985, Mar. 2012.
23. H. Wang, J. Kearney, and K. Atkinson, "Arc-length parameterized spline curves for real-time simulation, " in Proc. 5th Int. Conf. Curves Surf., 2002, pp. 387-396.
24. B. Guenter and R. Parent, "Computing the arc length of parametric curves, " IEEE Comput. Graph. Appl., vol. 10, no. 3, pp. 72-78, May 1990. (Pubitemid 20737419)
25. I. N. Bronshtein, K. A. Semendyayev, and K. A. Hirsch, Handbook of Mathematics. Berlin, Germany: Springer-Verlag, 2007.
26. H. Wang, J. Kearney, and K. Atkinson, "Robust and efficient computation of the closest point on a spline curve, " in Proc. 5th Int. Conf. Curves Surf., 2002, pp. 397-406.
27. T. Barfoot and C. Clark, "Motion planning for formations of mobile robots, " Robot. Auton. Syst., vol. 46, no. 2, pp. 65-78, Feb. 2004.
28. B. Siciliano, L. Sciavicco, and L. Villani, Robotics: Modeling, Planning and Control. New York: Springer-Verlag, 2009.
29. M. W. Spong, S. Hutchinson, and M. Vidyasagar, Robot Modeling and Control. Hoboken, NJ: Wiley, 2006.
30. D. Ferguson, C. Baker, M. Likhachev, and J. Dolan, "A reasoning framework for autonomous urban driving, " in Proc. IEEE Intell. Veh. Symp., 2008, pp. 775-780.
31. D. Ferguson, T. M. Howard, and M. Likhachev, "Motion planning in urban environments-Part II, " in Proc. Int. Conf. Intell. Robots Syst., 2008, pp. 1070-1076.
32. D. Ferguson, T. M. Howard, and M. Likhachev, "Motion planning in urban environments-Part I, " in Proc. Int. Conf. Intell. Robots Syst., 2008, pp. 1063-1069.
33. D. Ferguson, M. Darms, C. Urmson, and S. Kolski, "Detection, prediction, and avoidance of dynamic obstacles in urban environments, " in Proc. IEEE Intell. Veh. Symp., Eindhoven, The Netherlands, 2008, pp. 1149-1154.
34. J. Daniel, A. Birouche, J. P. Lauffenburger, and M. Basset, "Energy constrained trajectory generation for ADAS, " in Proc. Int. Intell. Veh. Symp., 2010, pp. 244-249.
35. H. Delingette, M. Hebert, and K. Ikeuchi, "Trajectory generation with curvature constraint based on energy minimization, " in Proc. Int. Workshop Intell. Veh. Symp., 1992, pp. 206-221.
36. Y. J. Kanayama and B. I. Hartman, "Smooth local-path planning for autonomous vehicles, " Int. J. Robot. Res., vol. 16, no. 1, pp. 263-284, Feb. 1997.
37. B. K. P. Horn, "Curve of least energy, " ACM Trans. Math. Softw., vol. 9, no. 4, pp. 441-460, Dec. 1983.