A Survey of Motion Planning and Control Techniques for Self-driving Urban Vehicles
Citations
1,539 citations
Cites background or result from "A Survey of Motion Planning and Con..."
...This is true for classic modular pipelines [21, 8] and even more so for datahungry deep learning techniques....
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...Its most difficult form is navigation in densely populated urban environments [21]....
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...This architecture is in line with most existing autonomous driving systems [21, 8]....
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901 citations
Cites background from "A Survey of Motion Planning and Con..."
...Autonomous driving is the subject of intensive research [25]....
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851 citations
Cites background from "A Survey of Motion Planning and Con..."
...[20] X X X X X [21] X X X [22] X X [23] X [24] X X X X [25] X X X [26] X [27] X X X X X [28] X X X X Ours X X X X X X X X X...
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...There are overview papers on the subject, which covered several core functions [20], [21], and which concentrated on the motion planning aspect [22], [23]....
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...For more detailed studies of this topic [22], [27], [244] can be referred....
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740 citations
Cites methods from "A Survey of Motion Planning and Con..."
...While the family of MPC methods aim to stabilize the behavior of the vehicle while tracking the specified path [14]....
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626 citations
References
22,704 citations
12,671 citations
"A Survey of Motion Planning and Con..." refers methods in this paper
...2) [68]b No Cyl. algebr. decomp. [76] No diff. constraints Yes No Exp. in dimension. [65] No Variational Methods Variational methods (Sec IV-C) Lipschitz-continuous Jacobian No Locally optimal O(1=) [77]k;l Yes Graph-search Methods Road lane graph + Dijkstra (Sec IV-D1) Arbitrary Noc Nod O(n+ mlog ) [78]e;f No Lattice/tree of motion prim. + Dijkstra (Sec IV-E) Arbitrary Noc Nod O(n+ mlog ) [78]e;f No...
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10,366 citations
"A Survey of Motion Planning and Con..." refers methods in this paper
...The most prominent heuristic search algorithm is A* developed by Hart, Nilsson and Raphael [112]....
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8,064 citations