Decoupled Sampling Based Planning Method for Multiple Autonomous Vehicles

Fatemeh Mohseni; Mahdi Morsali

Decoupled Sampling Based Planning Method for Multiple Autonomous Vehicles

Robotics 2017-02-14 v1

Authors: Fatemeh Mohseni , Mahdi Morsali

Abstract

This paper proposes a sampling based planning algorithm to control autonomous vehicles. We propose an improved Rapidly-exploring Random Tree which includes the definition of K- nearest points and propose a two-stage sampling strategy to adjust RRT in other to perform maneuver while avoiding collision. The simulation results show the success of the algorithm.

Keywords

path planning motion planning randomized algorithm

Cite

@article{arxiv.1702.03429,
  title  = {Decoupled Sampling Based Planning Method for Multiple Autonomous Vehicles},
  author = {Fatemeh Mohseni and Mahdi Morsali},
  journal= {arXiv preprint arXiv:1702.03429},
  year   = {2017}
}

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