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A Viterbi-like Approach for Trajectory Planning with Different Maneuvers

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Intelligent Autonomous Systems 15 (IAS 2018)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 867))

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Abstract

The task of a trajectory planning tries to find a sequence of driving commands that connects two configurations, whereas we have to consider nonholonomic constraints, obstacles and driving costs. In this paper, we present a new approach that supports arbitrary primitive trajectories, cost functions and constraints. The vehicle’s driving capabilities are modeled by a list of supported maneuvers. For maneuvers there exist equations that map configurations to driving commands. From all possible maneuver sequences that connect start and target, we compute the optimum with a Viterbi-like approach.

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Authors and Affiliations

  1. Department of Computer Science, Nuremberg Institute of Technology, Kesslerplatz 12, 90489, Nuremberg, Germany

    Jörg Roth

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  1. Jörg Roth
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Correspondence to Jörg Roth .

Editor information

Editors and Affiliations

  1. Baden-Wuerttemberg Cooperative State University, Karlsruhe, Germany

    Marcus Strand

  2. Humanoids and Intelligence Systems Lab, KIT - Karlsruher Institut für Technologie, Karlsruhe, Germany

    Rüdiger Dillmann

  3. University of Padua , Padua, Italy

    Emanuele Menegatti

  4. University of Padua, Padua, Italy

    Stefano Ghidoni

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Roth, J. (2019). A Viterbi-like Approach for Trajectory Planning with Different Maneuvers. In: Strand, M., Dillmann, R., Menegatti, E., Ghidoni, S. (eds) Intelligent Autonomous Systems 15. IAS 2018. Advances in Intelligent Systems and Computing, vol 867. Springer, Cham. https://doi.org/10.1007/978-3-030-01370-7_1

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