Search-Based Autonomous Vehicle Motion Planning Using Game Theory
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arXiv
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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866908457494380544 |
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| author | Panahandeh, Pouya Pirani, Mohammad Fidan, Baris Khajepour, Amir |
| author_facet | Panahandeh, Pouya Pirani, Mohammad Fidan, Baris Khajepour, Amir |
| contents | In this paper, we propose a search-based interactive motion planning scheme for autonomous vehicles (AVs), using a game-theoretic approach. In contrast to traditional search-based approaches, the newly developed approach considers other road users (e.g. drivers and pedestrians) as intelligent agents rather than static obstacles. This leads to the generation of a more realistic path for the AV. Due to the low computational time, the proposed motion planning scheme is implementable in real-time applications. The performance of the developed motion planning scheme is compared with existing motion planning techniques and validated through experiments using WATonoBus, an electrical all-weather autonomous shuttle bus. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2507_15088 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Search-Based Autonomous Vehicle Motion Planning Using Game Theory Panahandeh, Pouya Pirani, Mohammad Fidan, Baris Khajepour, Amir Robotics Computer Science and Game Theory In this paper, we propose a search-based interactive motion planning scheme for autonomous vehicles (AVs), using a game-theoretic approach. In contrast to traditional search-based approaches, the newly developed approach considers other road users (e.g. drivers and pedestrians) as intelligent agents rather than static obstacles. This leads to the generation of a more realistic path for the AV. Due to the low computational time, the proposed motion planning scheme is implementable in real-time applications. The performance of the developed motion planning scheme is compared with existing motion planning techniques and validated through experiments using WATonoBus, an electrical all-weather autonomous shuttle bus. |
| title | Search-Based Autonomous Vehicle Motion Planning Using Game Theory |
| topic | Robotics Computer Science and Game Theory |
| url | https://arxiv.org/abs/2507.15088 |