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arXiv · 2507.15088

Search-Based Autonomous Vehicle Motion Planning Using Game Theory

Pouya Panahandeh·Mohammad Pirani·Baris Fidan·Amir Khajepour
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Abstract

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.

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Pouya Panahandeh, Mohammad Pirani, Baris Fidan, Amir Khajepour. 2025-07-20. Search-Based Autonomous Vehicle Motion Planning Using Game Theory. https://arxiv.org/abs/2507.15088

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