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Conference Paper
Local Motion Planning Method using Closed-Loop Forward Simulation for Autonomous Vehicle
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- Authors
- Byungjae Park, Kiin Na, Jaemin Byun, Woo Young Han
- Issue Date
- 2016-10
- Citation
- International Conference on Systems, Man and Cybernetics (SMC) 2016, pp.1988-1993
- Publisher
- IEEE
- Language
- English
- Type
- Conference Paper
- Abstract
- This paper proposes a motion planning method for an autonomous vehicle in an urban environment. The proposed method generates trajectories using the closed-loop forward simulation (CLFS), which can consider various properties of an autonomous vehicle. The safeties of the generated trajectories are evaluated using an occupancy grid map. Using the proposed method, smooth and safe trajectories can be generated. The experiment in a real urban environment was conducted to verify the performance of the proposed method.
- KSP Keywords
- Autonomous vehicle, Closed-loop, Forward Simulation, Local motion planning, Motion planning method, Occupancy grid map, Various properties, urban environment