Motion planning

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.