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Drivers' Visual Behavior-Guided RRT Motion Planner for Autonomous On-Road Driving

文献类型：期刊论文

作者Du, Mingbo1,2; Mei, Tao2; Liang, Huawei2; Chen, Jiajia2; Huang, Rulin1,2; Zhao, Pan2
刊名SENSORS
出版日期2016
卷号16期号:1页码:1-19
关键词Motion Planning Autonomous Vehicle Drivers' Visual Behavior Rrt (Rapidly-exploring Random Tree) On-road Driving
DOI10.3390/s16010102
文献子类Article
英文摘要This paper describes a real-time motion planner based on the drivers' visual behavior-guided rapidly exploring random tree (RRT) approach, which is applicable to on-road driving of autonomous vehicles. The primary novelty is in the use of the guidance of drivers' visual search behavior in the framework of RRT motion planner. RRT is an incremental sampling-based method that is widely used to solve the robotic motion planning problems. However, RRT is often unreliable in a number of practical applications such as autonomous vehicles used for on-road driving because of the unnatural trajectory, useless sampling, and slow exploration. To address these problems, we present an interesting RRT algorithm that introduces an effective guided sampling strategy based on the drivers' visual search behavior on road and a continuous-curvature smooth method based on B-spline. The proposed algorithm is implemented on a real autonomous vehicle and verified against several different traffic scenarios. A large number of the experimental results demonstrate that our algorithm is feasible and efficient for on-road autonomous driving. Furthermore, the comparative test and statistical analyses illustrate that its excellent performance is superior to other previous algorithms.
WOS关键词MODEL
WOS研究方向Chemistry ; Electrochemistry ; Instruments & Instrumentation
语种英语
WOS记录号WOS:000370679800032
资助机构National Nature Science Foundations of China(61304100 ; National Nature Science Foundations of China(61304100 ; National Nature Science Foundations of China(61304100 ; National Nature Science Foundations of China(61304100 ; 91120307 ; 91120307 ; 91120307 ; 91120307 ; 91320301) ; 91320301) ; 91320301) ; 91320301) ; National Nature Science Foundations of China(61304100 ; National Nature Science Foundations of China(61304100 ; National Nature Science Foundations of China(61304100 ; National Nature Science Foundations of China(61304100 ; 91120307 ; 91120307 ; 91120307 ; 91120307 ; 91320301) ; 91320301) ; 91320301) ; 91320301)
源URL[http://ir.hfcas.ac.cn:8080/handle/334002/22317]  
专题合肥物质科学研究院_应用技术研究所
作者单位1.Univ Sci & Technol China, Dept Automat, Hefei 230026, Peoples R China
2.Chinese Acad Sci, Hefei Inst Phys Sci, Inst Appl Technol, Hefei 230026, Peoples R China
推荐引用方式
GB/T 7714		 Du, Mingbo,Mei, Tao,Liang, Huawei,et al. Drivers' Visual Behavior-Guided RRT Motion Planner for Autonomous On-Road Driving[J]. SENSORS,2016,16(1):1-19.
APA Du, Mingbo,Mei, Tao,Liang, Huawei,Chen, Jiajia,Huang, Rulin,&Zhao, Pan.(2016).Drivers' Visual Behavior-Guided RRT Motion Planner for Autonomous On-Road Driving.SENSORS,16(1),1-19.
MLA Du, Mingbo,et al."Drivers' Visual Behavior-Guided RRT Motion Planner for Autonomous On-Road Driving".SENSORS 16.1(2016):1-19.

入库方式： OAI收割

来源：合肥物质科学研究院

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