2024
DOI: 10.1109/access.2024.3355205
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Motion Planning for Urban Autonomous Bus Considering Localization Uncertainty Using Offset-Free MPC

Ara Jo,
Woojin Kwon,
Kyongsu Yi

Abstract: This study proposes a novel motion planning strategy to address localization uncertainty in autonomous buses. Conventional motion planning algorithms utilize information from high-definition (HD) maps to overcome the limited detection range of on-board sensors. However, this information contains uncertainty due to the utilization of estimated localization results during reference frame transformation. The wider dimensions of autonomous buses, compared to regular vehicles, amplify the potential dangers associat… Show more

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Cited by 2 publications
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