Threat-aware Path Planning in Uncertain Urban Environments
Name
How-2010-Threat-aware Path Planning in Uncertain Urban Environments.pdf
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1.27 MB
Format
Adobe PDF
Checksum (MD5)
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Author(s)
Aoude, Georges
Luders, Brandon Douglas
Levine, Daniel S.
How, Jonathan P.
Date Issued
December 2010
Journal
2010 IEEE/RSJ International Conference on Intelligent Robots and Systems
Publisher
Institute of Electrical and Electronics Engineers
Citation
Aoude, G S et al. “Threat-aware Path Planning in Uncertain Urban Environments.” 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems. Taipei, 2010. 6058-6063. © Copyright 2010 IEEE
Version
Final published version
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.
MIT Department
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/IROS.2010.5650734
