Related papers: Tunable Trajectory Planner Using G3 Curves
For lateral vehicle dynamics, planning trajectories for lane-keeping and lane-change can be generalized as a path planning task to stabilize a vehicle onto a target lane, which is a fundamental element in nowadays autonomous driving…
We present a trajectory generation framework for control of wheeled vehicles under steering actuator constraints. The motivation is smooth autonomous driving of heavy vehicles. The key idea is to take into account rate, and additionally,…
This paper presents a reachability-based approach to finite-time transition problem of nonlinear systems between two stationary points (i.e., the point-to-point steering problem). When the target state is reachable, we prove that a solution…
Modern automated driving solutions utilize trajectory planning and control components with numerous parameters that need to be tuned for different driving situations and vehicle types to achieve optimal performance. This paper proposes a…
Two-stage methods addressing continuous shortest path problems start local minimization from discrete shortest paths in a spatial graph. The convergence of such hybrid methods to global minimizers hinges on the discretization error induced…
Automated driving systems are often used for lane keeping tasks. By these systems, a local path is planned ahead of the vehicle. However, these paths are often found unnatural by human drivers. We propose a linear driver model, which can…
In unstructured environments, obstacles are diverse and lack lane markings, making trajectory planning for intelligent vehicles a challenging task. Traditional trajectory planning methods typically involve multiple stages, including path…
Motion trajectory planning is one crucial aspect for automated vehicles, as it governs the own future behavior in a dynamically changing environment. A good utilization of a vehicle's characteristics requires the consideration of the…
This paper introduces a local planner that synergizes the decision making and trajectory planning modules towards autonomous driving. The decision making and trajectory planning tasks are jointly formulated as a nonlinear programming…
The problem of maneuvering a vehicle through a race course in minimum time requires computation of both longitudinal (brake and throttle) and lateral (steering wheel) control inputs. Unfortunately, solving the resulting nonlinear optimal…
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.…
To improve safety and energy efficiency, autonomous vehicles are expected to drive smoothly in most situations, while maintaining their velocity below a predetermined speed limit. However, some scenarios such as low road adherence or…
The paper addresses the problem of providing suitable reference trajectories in motion planning problems for autonomous vehicles. Among the various approaches to compute a reference trajectory, our aim is to find those trajectories which…
Abstract: we present a framework for robust autonomous driving motion planning system in urban environments which includes trajectory refinement, trajectory interpolation, avoidance of static and dynamic obstacles, and trajectory tracking.…
To perform autonomous driving maneuvers, such as parallel or perpendicular parking, a vehicle requires continual speed and steering adjustments to follow a generated path. In consequence, the path's quality is a limiting factor of the…
Autonomous vehicle control is generally divided in two main areas; trajectory planning and tracking. Currently, the trajectory planning is mostly done by particle or kinematic model-based optimization controllers. The output of these…
Trajectory planning for mobile robots in cluttered environments remains a major challenge due to narrow passages, where conventional methods often fail or generate suboptimal paths. To address this issue, we propose the adaptive trajectory…
Path planning for wheeled mobile robots is a critical component in the field of automation and intelligent transportation systems. Car-like vehicles, which have non-holonomic constraints on their movement capability impose additional…
We present improvements to a recently developed method for trajectory planning for autonomous surface vehicles (ASVs) in terms of run time. The original method combines two types of planners: An A* implementation that quickly finds the…
Existing motion planning methods often have two drawbacks: 1) goal configurations need to be specified by a user, and 2) only a single solution is generated under a given condition. In practice, multiple possible goal configurations exist…