Publikation
Approximating Reference Trajectories for Autonomous Vehicles using Motion Primitives
Stephan Scheuren; Stefan Stiene; Ronny Hartanto; Joachim Hertzberg
In: Autonome Mobile Systeme 12. Autonome Mobile Systeme (AMS-12), September 26, Stuttgart, Germany, Springer, 9/2012.
Zusammenfassung
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.