arXiv Open Access 2017

Decoupled Sampling Based Planning Method for Multiple Autonomous Vehicles

Fatemeh Mohseni Mahdi Morsali

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Abstrak

This paper proposes a sampling based planning algorithm to control autonomous vehicles. We propose an improved Rapidly-exploring Random Tree which includes the definition of K- nearest points and propose a two-stage sampling strategy to adjust RRT in other to perform maneuver while avoiding collision. The simulation results show the success of the algorithm.

Topik & Kata Kunci

cs.RO

Penulis (2)

Fatemeh Mohseni

Mahdi Morsali

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Mohseni, F., Morsali, M. (2017). Decoupled Sampling Based Planning Method for Multiple Autonomous Vehicles. https://arxiv.org/abs/1702.03429

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Tahun Terbit: 2017
Bahasa: en
Sumber Database: arXiv
Akses: Open Access ✓