Contingency Planning Over Probabilistic Obstacle Predictions for Autonomous Road Vehicles
作者： Jason Hardy , Mark Campbell
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摘要: 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 …
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