Print Email Facebook Twitter Curvature Aware Motion Planning with Closed-Loop Rapidly-exploring Random Trees Title Curvature Aware Motion Planning with Closed-Loop Rapidly-exploring Random Trees Author van den Berg, Berend (Student TU Delft; Eindhoven University of Technology) Ferreira de Brito, B.F. (TU Delft Learning & Autonomous Control) Alirezaei, Mohsen (Eindhoven University of Technology; Siemens Industry Software and Services B.V) Alonso-Mora, J. (TU Delft Learning & Autonomous Control) Date 2021 Abstract The road's geometry strongly influences the path planner's performance, critical for autonomous navigation in high-speed dynamic scenarios (e.g., highways). Hence, this paper introduces the Curvature-aware Rapidly-exploring Random Trees (CA-CL-RRT), whose planning performance is invariant to the road's geometry. We propose a transformation strategy that allows us to plan on a virtual straightened road and then convert the planned motion to the curved road. It is shown that the proposed approach substantially improves path planning performance on curved roads as compared to prior RRT-based path planners. Moreover, the proposed CA-CL-RRT is combined with a Local Model Predictive Contour Controller (LMPCC) for path tracking while ensuring collision avoidance through constraint satisfaction. We present quantitative and qualitative performance results in two navigation scenarios: dynamic collision avoidance and structured highway driving. The results demonstrate that our proposed navigation framework improves the path quality on curved highway roads and collision avoidance with dynamic obstacles. To reference this document use: http://resolver.tudelft.nl/uuid:ce490317-e2f6-417f-94ca-fbe42595a77c DOI https://doi.org/10.1109/IV48863.2021.9575193 Publisher IEEE Embargo date 2022-05-06 ISBN 978-1-7281-5395-7 Source Proceedings of the 2021 IEEE Intelligent Vehicles Symposium (IV) Event IV21, 2021-07-11 → 2021-07-17, Virtual at Nagoya, Japan Bibliographical note Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. Part of collection Institutional Repository Document type conference paper Rights © 2021 Berend van den Berg, B.F. Ferreira de Brito, Mohsen Alirezaei, J. Alonso-Mora Files PDF Curvature_Aware_Motion_Pl ... _Trees.pdf 1.08 MB Close viewer /islandora/object/uuid:ce490317-e2f6-417f-94ca-fbe42595a77c/datastream/OBJ/view