  We present the Model-Predictive Motion Planner (MPMP) of the Intelligent
Autonomous Robotic Automobile (IARA). IARA is a fully autonomous car that uses
a path planner to compute a path from its current position to the desired
destination. Using this path, the current position, a goal in the path and a
map, IARA's MPMP is able to compute smooth trajectories from its current
position to the goal in less than 50 ms. MPMP computes the poses of these
trajectories so that they follow the path closely and, at the same time, are at
a safe distance of eventual obstacles. Our experiments have shown that MPMP is
able to compute trajectories that precisely follow a path produced by a Human
driver (distance of 0.15 m in average) while smoothly driving IARA at speeds of
up to 32.4 km/h (9 m/s).
