Related papers: Trajectory Optimization for Curvature Bounded Non-…

Though great effort has been put into the study of path planning on urban roads and highways, few works have studied the driving strategy and trajectory planning in low-speed driving scenarios, e.g., driving on a university campus or…

In this paper we provide an optimal control based strategy to explore feasible trajectories of nonlinear systems, that is to find curves that satisfy the dynamics as well as point-wise state-input constraints. The strategy is interesting…

Computing optimal, collision-free trajectories for high-dimensional systems is a challenging problem. Sampling-based planners struggle with the dimensionality, whereas trajectory optimizers may get stuck in local minima due to inherent…

This article proposes a Novel Nonlinear Model Predictive Control (NMPC) for navigation and obstacle avoidance of an Unmanned Aerial Vehicle (UAV). The proposed NMPC formulation allows for a fully parametric obstacle trajectory, while in…

Trajectory planning in urban automated driving is challenging because of the high uncertainty resulting from the unknown future motion of other traffic participants. Robust approaches guarantee safety, but tend to result in overly…

This paper presents a free space trajectory optimization algorithm of autonomous driving vehicle, which decouples the collision-free trajectory planning problem into a Dual-Loop Iterative Anchoring Path Smoothing (DL-IAPS) and a Piece-wise…

Motion planning is a key aspect of robotics. A common approach to address motion planning problems is trajectory optimization. Trajectory optimization can represent the high-level behaviors of robots through mathematical formulations.…

In this study, we are concerned with autonomous driving missions when a static obstacle blocks a given reference trajectory. To provide a realistic control design, we employ a model predictive control (MPC) utilizing nonlinear state-space…

The objective of trajectory optimization algorithms is to achieve an optimal collision-free path between a start and goal state. In real-world scenarios where environments can be complex and non-homogeneous, a robot needs to be able to…

In this paper, a novel real-time acceleration-continuous path-constrained trajectory planning algorithm is proposed with an appealing built-in tradability mechanism between cruise motion and time-optimal motion. Different from existing…

This article addresses obstacle avoidance motion planning for autonomous vehicles, specifically focusing on highway overtaking maneuvers. The control design challenge is handled by considering a mathematical vehicle model that captures both…

This paper presents a method based on linear programming for trajectory planning of automated vehicles, combining obstacle avoidance, time scheduling for the reaching of waypoints and time-optimal traversal of tube-like road segments.…

Uncertain dynamic obstacles, such as pedestrians or vehicles, pose a major challenge for optimal robot navigation with safety guarantees. Previous work on motion planning has followed two main strategies to provide a safe bound on an…

To realize autonomous shipping, autonomous berthing and unberthing are some of the technical challenges. In the past, numerous research have been done on the optimization of trajectory planning of berthing problems. However, these studies…

We present AutonoVi:, a novel algorithm for autonomous vehicle navigation that supports dynamic maneuvers and satisfies traffic constraints and norms. Our approach is based on optimization-based maneuver planning that supports dynamic…

This paper proposes a discretionary lane selection algorithm. In particular, highway driving is considered as a targeted scenario, where each lane has a different level of traffic flow. When lane-changing is discretionary, it is advised not…

We propose two new alternating direction methods to solve "fully" nonsmooth constrained convex problems. Our algorithms have the best known worst-case iteration-complexity guarantee under mild assumptions for both the objective residual and…

This paper proposes collision-free optimal trajectory planning for autonomous vehicles in highway traffic, where vehicles need to deal with the interaction among each other. To address this issue, a novel optimal control framework is…

Optimization-based methods are widely used for computing fast, diverse solutions for complex tasks such as collision-free movement or planning in the presence of contacts. However, most of these methods require enforcing non-penetration…

In order to minimize the impact of lane change (LC) maneuver on surrounding traffic environment, a hierarchical automatic LC algorithm that could realize local optimum has been proposed. This algorithm consists of a tactical layer planner…