TY - CHAP
T1 - Motion planning
AU - Villagra, Jorge
AU - Jiménez, Felipe
AU - Pérez, Joshué
AU - Garcia-Daza, Ivan
AU - Artuñedo, Antonio
AU - Clavijo, Miguel
AU - Díaz-Álvarez, Alberto
AU - Fernandez-Lorca, David
AU - Lattarulo, Ray Alejandro
AU - Matute, Jose Ángel
AU - Godoy, Jorge
AU - Izquierdo-Gonzalo, Rubén
AU - Alonso, Marta
N1 - Publisher Copyright:
© 2023 Elsevier Inc. All rights reserved.
PY - 2023/1/1
Y1 - 2023/1/1
N2 - Motion planning is responsible for computing a safe, comfortable, and dynamically feasible trajectory from the automated vehicle's current state to the goal configuration provided by the behavioral layer of the decision-making system. It considers information about static and dynamic obstacles around the vehicle and generates a collision-free trajectory that satisfies dynamic and kinematic constraints on the motion of the vehicle. This chapter defines the problem and provides a complete overview of the different existing techniques to obtain (i) appropriate paths along the drivable space; and (ii) the most suitable speed profile to follow that path. Although path planning is a well-established discipline in robotics, the focus of the chapter is on describing the different approaches under the perspective, needs, and constraints of on-road vehicles.
AB - Motion planning is responsible for computing a safe, comfortable, and dynamically feasible trajectory from the automated vehicle's current state to the goal configuration provided by the behavioral layer of the decision-making system. It considers information about static and dynamic obstacles around the vehicle and generates a collision-free trajectory that satisfies dynamic and kinematic constraints on the motion of the vehicle. This chapter defines the problem and provides a complete overview of the different existing techniques to obtain (i) appropriate paths along the drivable space; and (ii) the most suitable speed profile to follow that path. Although path planning is a well-established discipline in robotics, the focus of the chapter is on describing the different approaches under the perspective, needs, and constraints of on-road vehicles.
KW - Autonomous vehicles
KW - Motion planning
KW - Path planning
KW - Speed planning
UR - http://www.scopus.com/inward/record.url?scp=85162630687&partnerID=8YFLogxK
U2 - 10.1016/B978-0-323-98339-6.00015-4
DO - 10.1016/B978-0-323-98339-6.00015-4
M3 - Chapter
AN - SCOPUS:85162630687
SN - 9780323985499
SP - 117
EP - 167
BT - Decision-Making Techniques for Autonomous Vehicles
PB - Elsevier
ER -