NDLI: Contingency Planning Over Probabilistic Obstacle Predictions for Autonomous Road Vehicles

Content Provider	IEEE Xplore Digital Library
Author	Hardy, J. Campbell, M.
Copyright Year	2004
Abstract	This paper presents a novel optimization-based path planner that is capable of planning multiple contingency paths to directly account for uncertainties in the future trajectories of dynamic obstacles. This planner addresses the particular problem of probabilistic collision avoidance for autonomous road vehicles that are required to safely interact, in close proximity, with other vehicles with unknown intentions. The presented path planner utilizes an efficient spline-based trajectory representation and fast but accurate collision probability bounds to simultaneously optimize multiple continuous contingency paths in real time. These collision probability bounds are efficient enough for real-time evaluation, yet accurate enough to allow for practical close-proximity driving behaviors such as passing an obstacle vehicle in an adjacent lane. An obstacle trajectory clustering algorithm is also presented to enable the path planner to scale to multiple-obstacle scenarios. Simulation results show that the contingency planner allows for a more aggressive driving style than planning a single path without compromising the overall safety of the robot.
Sponsorship	IEEE Robotics and Automation Society
Starting Page	913
Ending Page	929
Page Count	17
File Size	2904398
File Format	PDF
ISSN	15523098
Volume Number	29
Issue Number	4
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-08-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	nonholonomic motion planning Artificial intelligence reasoning methods collision avoidance contingency planning field robots
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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