Abstract
In this paper we describe an approach for validating and adapting a reference trajectory of an autonomous vehicle. It is assumed that the generation of the reference trajectory guarantees the approximation to be collision free if it stays within a tolerance area. We employ a precomputed set of motion primitives as used in state-of-the-art path planning libraries. The generated path is smooth and feasible. Two applications are presented, which have motivated the development of the approach.
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Acknowledgments
This paper was created within the project marion. This research and development project is funded by the German Federal Ministry of Economics and Technology (BMWi) and supervised by the project management agency for multimedia, German Aerospace Center (DLR), Cologne, grant no. 01MA10027.
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Scheuren, S., Stiene, S., Hartanto, R., Hertzberg, J. (2012). Approximating Reference Trajectories for Autonomous Vehicles Using Motion Primitives. In: Levi, P., Zweigle, O., Häußermann, K., Eckstein, B. (eds) Autonomous Mobile Systems 2012. Informatik aktuell. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-32217-4_12
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DOI: https://doi.org/10.1007/978-3-642-32217-4_12
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