Summary and supplement of "A survey of motion planning and control techniques...
Summary and supplement of “Motion planning for autonomous driving with a conformal spatiotemporal lattice”
1. Summary and supplement of
“Motion planning for autonomous
driving with a conformal
spatiotemporal lattice”
summarized by oei
McNaughton, Matthew Urmson, Chris
Dolan, John M. Lee, Jin Woo
url : https://www.ri.cmu.edu/pub_files/2011/5/20100914_icra2011-mcnaughton.pdf
2. どんなもの?
• 時空間 state lattice の探索空間表現の体系化、効率化
• 惑星探査用に開発された state lattice フレームワークを都市環境よ
うに拡張
• 低レベルの planner の計画領域を広げることができる
3. コンテンツ
I. INTRODUCTION
II. RELATED WORK
III. METHOD
I. Paths and Trajectories
II. Spatiotemporal Lattice
III. Why include acceleration in the state space?
IV. Cost function
V. Picking the best final state
VI. World Representation
IV. GPU ACCELERATION
V. EXPERIMENTAL RESULTS
VI. CONCLUSIONS
11. 議論はある?
• Using a constant acceleration over the course of the path can lead to
execution errors, since vehicles typically cannot change acceleration
abruptly.
• 一定加速するとエラーにつながる、加速の急な変化NGだから(意味
わからん)
• At low speeds, constructing paths using a cubic polynomial spiral
while staying strictly within curvature rate overly limits the
maneuverability of the vehicle.
• 低速時の車両モデル、もっとえぐい事できる希ガス
12. 次に読むべき論文は?
• [2] M. Pivtoraiko et al. Differentially constrained mobile robot motion
planning in state lattices. Journal of Field Robotics, 26(1):308–333,
March 2009.