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Proceedings Paper

Cost-based adaptive planning for on-road driving
Author(s): Stephen B. Balakirsky; Christopher Scrapper; Elena R. Messina
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Paper Abstract

This paper presents a cost-based adaptive planning agent that is operating at the route-segment level of a deliberative hierarchical planning system for autonomous road driving. At this level, the planning agent is responsible for developing fundamental driving maneuvers that allow a vehicle to travel safely amongst moving and stationary objects. This is facilitated through the use of an incrementally expanded planning graph that provides the ability to implement a dynamic cost function. This cost function varies to comply with particular road, regional, or event driven situations, and when coupled with the incremental graph expansion allows for the agent to implement hard and soft system constraints.

Paper Details

Date Published: 29 December 2004
PDF: 12 pages
Proc. SPIE 5609, Mobile Robots XVII, (29 December 2004); doi: 10.1117/12.580164
Show Author Affiliations
Stephen B. Balakirsky, National Institute of Standards and Technology (United States)
Christopher Scrapper, National Institute of Standards and Technology (United States)
Elena R. Messina, National Institute of Standards and Technology (United States)


Published in SPIE Proceedings Vol. 5609:
Mobile Robots XVII
Douglas W. Gage, Editor(s)

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