Balakirsky, S.
and Scrapper Jr, C.
(2004),
Knowledge representation and planning for on-road driving, Journal of Robotics and Autonomous Systems, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=822607
(Accessed May 29, 2023)
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Knowledge representation and planning for on-road driving
Published
Author(s)
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Abstract
This paper presents a cost-based adaptive planning agent and knowledge layers that is operating at one 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 application of knowledge to the graph creation process and the use of dynamic cost function within the incrementally created planning graph. 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. Further discussion will be provided that details on of the expert systems that is implemented to provide the planning system with this knowledge in real-time.Citation
Journal of Robotics and Autonomous Systems
Volume
49
Pub Type
Journals
Download Paper
Keywords
autonomous road driving, knowledge representation, Mobility, Planning, planning, RCS, Robotics & Intelligent Systems
Citation
Created July 15, 2004, Updated October 12, 2021