Summary and supplement of "A survey of motion planning and control techniques for self driving urban vehicles"(part1~3)
1. Summary and supplement of
“A Survey of Motion Planning and Control Techniques
for Self-driving Urban Vehicles”
Brian Paden∗,1, Michal ˇCáp∗,1,2, Sze Zheng Yong1, Dmitry Yershov1, and Emilio Frazzoli1
summarized by oei
∗ The first two authors contributed equally to this work.
1 The authors are with the Laboratory for Information and Decision Systems, Massachusetts Institute of Technology, Cambridge
2 Michal ˇCáp is also affiliated with Dept. of Computer Science, Faculty of Electrical Engineering, CTU in Prague, Czech Republic.
2. 元論文
• 英語読めるマンはこっち読んでくれ
A Survey of Motion Planning and Control Techniques for Self-driving
Urban Vehicles
https://arxiv.org/abs/1604.07446
そして翻訳ミスの指摘くれるとうれしい
33. 3 計画、制御のためのモデル化 A 運動学的シングルトラックモデル
3-A-3 微分制約について
• 微分制約は、角度θと、[54]のような点prと、[55]のようなpfのうちの1
つの動きと共に構成される座標系に対して導かれる
• [54] “Real-time motion planning with applications to autonomous
urban driving,”
• [55]“Stanley: The robot that won the DARPA Grand Challenge,”