Motion planning for urban autonomous driving using Bézier curves and MPC.
Xiangjun QianIñaki NavarroArnaud de La FortelleFabien MoutardePublished in: ITSC (2016)
Keyphrases
- motion planning
- autonomous driving
- urban traffic
- grand challenge
- degrees of freedom
- trajectory planning
- mobile robot
- stereo vision
- path planning
- humanoid robot
- robotic tasks
- traffic control
- autonomous mobile robot
- multi robot
- robotic arm
- dynamic model
- vision algorithms
- urban areas
- traffic congestion
- transportation networks
- configuration space
- closed loop
- mechanical systems
- dynamic programming
- obstacle avoidance
- stereo matching
- traffic flow
- machine learning
- pose estimation
- spatio temporal
- feature space