Planning Long Dynamically-Feasible Maneuvers For Autonomous Vehicles
Maxim Likhachev* and Dave Ferguson**
In this paper, we present an algorithm for generating complex dynamically-feasible maneuvers for autonomous vehicles traveling at high speeds over large distances. Our approach is based on performing anytime incremental search on a multi-resolution, dynamically-feasible lattice state space. The resulting planner provides real-time performance and guarantees on and control of the suboptimality of its solution. We provide theoretical properties and experimental results from an implementation on an autonomous passenger vehicle that competed, and won the first place, in the Urban Challenge competition.