TR2019-062
Motion Planning of Autonomous Road Vehicles by Particle Filtering: Implementation and Validation
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- "Motion Planning of Autonomous Road Vehicles by Particle Filtering: Implementation and Validation", American Control Conference (ACC), DOI: 10.23919/ACC.2019.8815309, July 2019, pp. 1382-1387.BibTeX TR2019-062 PDF
- @inproceedings{Berntorp2019jul2,
- author = {Berntorp, Karl and Inani, Pranav and Quirynen, Rien and Di Cairano, Stefano},
- title = {Motion Planning of Autonomous Road Vehicles by Particle Filtering: Implementation and Validation},
- booktitle = {American Control Conference (ACC)},
- year = 2019,
- pages = {1382--1387},
- month = jul,
- publisher = {IEEE},
- doi = {10.23919/ACC.2019.8815309},
- url = {https://www.merl.com/publications/TR2019-062}
- }
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- "Motion Planning of Autonomous Road Vehicles by Particle Filtering: Implementation and Validation", American Control Conference (ACC), DOI: 10.23919/ACC.2019.8815309, July 2019, pp. 1382-1387.
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MERL Contact:
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Research Areas:
Abstract:
Autonomous driving in urban and highway scenarios involves a set of predefined requirements that the vehicle should obey, such as lane following, safety distances to surrounding vehicles, and speed preferences. We have previously shown that by interpreting the motion-planning problem as a nonlinear non-Gaussian estimation problem, we can leverage particle filtering to determine suitable vehicle trajectories. In this paper, we validate our proposed motion planner using scaled vehicles. We show that our motion planner is capable of determining safe and drivable trajectories for a number of challenging scenarios, and that the trajectories can be accurately tracked by a lower-level nonlinear model predictive control scheme.
Related News & Events
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NEWS MERL researchers presented 8 papers at American Control Conference Date: July 10, 2019 - July 12, 2019
Where: Philadelphia
MERL Contacts: Ankush Chakrabarty; Stefano Di Cairano; Devesh K. Jha; Yebin Wang; Avishai Weiss
Research Areas: Control, Machine Learning, OptimizationBrief- At the American Control Conference, MERL presented 8 papers on subjects including model predictive control applications, estimation and motion planning for vehicles, modular control architectures, and adaptation and learning.
Related Publication
BibTeX TR2018-164 PDF
- @article{Berntorp2018dec,
- author = {Berntorp, Karl and Hoang, Tru and Di Cairano, Stefano},
- title = {Motion Planning of Autonomous Road Vehicles by Particle Filtering},
- journal = {IEEE Transactions on Intelligent Vehicles},
- year = 2018,
- volume = 4,
- number = 2,
- pages = {197--210},
- month = dec,
- doi = {10.1109/TIV.2019.2904394},
- url = {https://www.merl.com/publications/TR2018-164}
- }