Curvature Aware Motion Planning with Closed-Loop Rapidly-exploring Random Trees

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...

Lateral Vehicle Following in a Cooperative Vehicle Platooning Application: An H_∞approach

Lateral control in the absence of lane markings is an essential safety fallback for an autonomous vehicle in cooperative driving applications. Point following control is one such solutions for lateral control. However, it suffers from corner cutting and severe disturbance amplification throughout the platoon. In this paper, a new model for...