Threat-aware Path Planning in Uncertain Urban Environments [Attached Video]
Name
IROS10TAP_hq.mp4
Size
68.31 MB
Format
Unknown
Checksum (MD5)
b4ac6ea2ea78e927a623e9beb8c80df5
Author(s)
Aoude, Georges S.
Luders, Brandon D.
Levine, Daniel S.
How, Jonathan P.
Date Issued
October 1, 2010
Publisher
IEEE
Citation
G. S. Aoude, B. D. Luders, D. S. Levine, and J. P. How, "Threat-aware Path Planning in Uncertain Urban Environments," in IEEE/RSJ International Conference on Intelligent Robots and Systems, (Taipei, Taiwan), October 2010.
Series/Report no.
;ACL11-01
Abstract
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.
Subjects
safe path planning, threat assessment, autonomous vehicles, road intersection safety
Terms of Use
Attribution-NonCommercial-NoDerivs 3.0 United States
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