학술논문
Spatio-Temporal Lattice Planning Using Optimal Motion Primitives
Document Type
Periodical
Author
Source
IEEE Transactions on Intelligent Transportation Systems IEEE Trans. Intell. Transport. Syst. Intelligent Transportation Systems, IEEE Transactions on. 24(11):11950-11962 Nov, 2023
Subject
Language
ISSN
1524-9050
1558-0016
1558-0016
Abstract
Lattice-based planning techniques simplify the motion planning problem for autonomous vehicles by limiting available motions to a pre-computed set of primitives. These primitives are combined online to generate complex maneuvers. A set of motion primitives $t$ -span a lattice if, given a real number $t\geq 1$ , any configuration in the lattice can be reached via a sequence of motion primitives whose cost is no more than a factor of $t$ from optimal. Computing a minimal $t$ -spanning set balances a trade-off between computed motion quality and motion planning performance. In this work, we formulate this problem for an arbitrary lattice as a mixed integer linear program. We also propose an A*-based algorithm to solve the motion planning problem using these primitives and an algorithm that removes the excessive oscillations from planned motions – a common problem in lattice-based planning. Our method is validated for autonomous driving in both parking lot and highway scenarios.