Feedback Enhanced Motion Planning for Autonomous Vehicles
Ke Sun,Brent Schlotfeldt,Stephen Chaves,Paul Martin,Gulshan Mandhyan,Vijay Kumar,Ke Sun,Brent Schlotfeldt,Stephen Chaves,Paul Martin,Gulshan Mandhyan,Vijay Kumar
In this work, we address the motion planning problem for autonomous vehicles through a new lattice planning approach, called Feedback Enhanced Lattice Planner (FELP). Existing lattice planners have two major limitations, namely the high dimensionality of the lattice and the lack of modeling of agent vehicle behaviors. We propose to apply the Intelligent Driver Model (IDM) [1] as a speed feedback p...
