A fast RRT algorithm for motion planning of autonomous road vehicles

Trajectory planning and tracking for autonomous overtaking: State-of-the-art and future prospects

“…is a method used for collision free path planning [53,54], see Figure 5b. These algorithms can be modified to incorporate the vehicle constraints but they also suffer from computational and memory costs [42,53,54].…”

“…is a method used for collision free path planning [53,54], see Figure 5b. These algorithms can be modified to incorporate the vehicle constraints but they also suffer from computational and memory costs [42,53,54]. The computational complexity of such algorithms increases with increasing traffic density and frequency of road curvature thus jeopardizing the on-board computation of an autonomous vehicle on busy roads [53].…”

“…These algorithms can be modified to incorporate the vehicle constraints but they also suffer from computational and memory costs [42,53,54]. The computational complexity of such algorithms increases with increasing traffic density and frequency of road curvature thus jeopardizing the on-board computation of an autonomous vehicle on busy roads [53]. Furthermore, the paths created by RRT's are jerky and tracking such a trajectory will have an adverse effect on the comfort of the occupants [39].…”

Motion Planning Based on RRT for Autonomous Road Vehicles: A Review.

“…For instance, lanekeeping is the most common maneuvers for vehicleson road when without obstacles. Using the RRT isdifficult to plan a trajectory shaped like a straight linefor the lane keeping [15].…”

“…Autonomous road vehicles came first into being in and around 1980s. Nowadays Google driverless car has been allowed testing and self-driving on Michigan'sroads according to the legislation [15]. Both of these algorithms have been very helpful in motion planning for autonomous road vehicles.…”