Threat-aware Path Planning in Uncertain Urban Environments [Attached Video]
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This paper considers the path planning problem for an autonomous vehicle in an
urban environment populated with static obstacles and moving vehicles with
uncertain intents. We propose a novel threat assessment module, consisting of an
intention predictor and a threat assessor, which augments the host vehicle's
path planner with a real-time threat value representing the risks posed by the
estimated intentions of other vehicles. This new threat-aware planning approach
is applied to the CL-RRT path planning framework, used by the MIT team in the
2007 DARPA Grand Challenge. The strengths of this approach are demonstrated
through simulation and experiments performed in the RAVEN testbed facilities.
Năm xuất bản
Tác giả
Aoude, Georges S.
Luders, Brandon D.
Levine, Daniel S.
How, Jonathan P.
Nhà xuất bản
IEEE
