Path Planning for Autonomous Vehicles in Unknown Semi-structured Environments

Abstract

We describe a practical path-planning algorithm for an autonomous vehicle operating in an unknown semi-structured (or unstructured) environment, where obstacles are detected online by the robot's sensors. This work was motivated by and experimentally validated in the 2007 DARPA Urban Challenge, where robotic vehicles had to autonomously navigate parking lots. The core of our approach to path planning consists of two phases. The first phase uses a variant of A* search (applied to the 3D kinematic state space of the vehicle) to obtain a kinematically feasible trajectory. The second phase then improves the quality of the solution via numeric non-linear optimization, leading to a local (and frequently global) optimum. Further, we extend our algorithm to use prior topological knowledge of the environment to guide path planning, leading to faster search and final trajectories better suited to the structure of the environment. We present experimental results from the DARPA Urban Challenge, where our robot demonstrated near-flawless performance in complex general path-planning tasks such as navigating parking lots and executing U-turns on blocked roads. We also present results on autonomous navigation of real parking lots. In those latter tasks, which are significantly more complex than the ones in the DARPA Urban Challenge, the time of a full replanning cycle of our planner is in the range of 50-300 ms.

RandomBug: Novel Path Planning Algorithm in Unknown Environment

“…Assuming an obstacle blocked the path, we insert intermediate point 1 q into initial path vector set 0 P to get the regenerated path vector set 1 P , á á á á (9) As shown in Fig. (3b) …”

“…Path planning for autonomous mobile agents in unknown environment needs to satisfy some requirements, such as accessibility, obstacle avoidance, optimal performance etc [1].…”

Theoretical Limits of Speed and Resolution for Kinodynamic Planning in a Poisson Forest

“…This allows us to solve a wide range of problems without having to analyze new lattices for new problems. There has been an extensive amount of work in developing planning algorithms that perform a discrete search on a state lattice [5,9,10,[15][16][17][18] . Ascertaining the optimum resolution is an important problem because of its effect on real-time performance.…”

Planning with adaptive dimensionality for mobile manipulation

“…Search-based planning algorithms are often used in many areas of robotics, such as navigation planning [1], [2]. There are several reasons for the popularity of search-based planners.…”