Safe Motion Planning Against Multimodal Distributions Based on a Scenario Approach
Abstract
We present the design of a motion planning algorithm that ensures safety for an autonomous vehicle. In particular, we consider a multimodal distribution over uncertainties; for example, the uncertain predictions of future trajectories of surrounding vehicles reflect discrete decisions, such as turning or going straight at intersections. We develop a computationally efficient, scenario-based approach that solves the motion planning problem with...
Paper Details
Title
Safe Motion Planning Against Multimodal Distributions Based on a Scenario Approach
Published Date
Jan 1, 2022
Journal
Volume
6
Pages
1142 - 1147
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