Related papers: Optimal 3D Road Alignment on Topographic Surfaces:…
This paper presents a triple optimization algorithm of two-dimensional space, driving path and driving speed, and iterates in the time dimension to obtain the local optimal solution of path and speed in the optimal driving area. Design…
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…
Planning trajectories for automated vehicles in urban environments requires methods with high generality, long planning horizons, and fast update rates. Using a path-velocity decomposition, we contribute a novel planning framework, which…
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…
We present a novel direct transcription method to solve optimization problems subject to nonlinear differential and inequality constraints. We prove convergence of our numerical method under reasonably mild assumptions: boundedness and…
Many robotics applications benefit from being able to compute multiple locally optimal paths in a given configuration space. Examples include path planning for of tethered robots with cable-length constraints, systems involving cables,…
This paper focuses on automatic guided vehicle (AGV) trajectory planning in the presence of moving obstacles with known but complicated trajectories. In order to achieve good solution precision, optimality and unification, the concerned…
Finding a local minimum or maximum of a function is often achieved through the gradient-descent optimization method. For a function in dimension d, the gradient requires to compute at each step d partial derivatives. This method is for…
This paper addresses the problem of planning time-optimal trajectories for multiple cooperative agents along specified paths through a static road network. Vehicle interactions at intersections create non-trivial decisions, with complex…
This paper analyzes a full discretization of a three-dimensional stochastic Allen-Cahn equation with multiplicative noise. The discretization combines the Euler scheme for temporal approximation and the finite element method for spatial…
Optimization of three-dimensional road alignments is a nonlinear non-convex optimization problem. The development of models that fully optimize a three-dimensional road alignment problem is challenging due to numerous factors involved and…
The optimal control of a mechanical system is of crucial importance in many realms. Typical examples are the determination of a time-minimal path in vehicle dynamics, a minimal energy trajectory in space mission design, or optimal motion…
Pathfinding is a very popular area in computer game development. While two-dimensional (2D) pathfinding is widely applied in most of the popular game engines, little implementation of real three-dimensional (3D) pathfinding can be found.…
To generate safe and real-time trajectories for an autonomous vehicle in dynamic environments, path and speed decoupled planning methods are often considered. This paper studies speed planning, which mainly deals with dynamic obstacle…
Gradient methods are among the simplest yet most widely used algorithms for unconstrained optimization. Motivated by a geometric property of the steepest descent (SD) method that can alleviate the zigzag behavior in quadratic problems, we…
The Dijkstra algorithm is a classic path planning method, which in a discrete graph space, can start from a specified source node and find the shortest path between the source node and all other nodes in the graph. However, to the best of…
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…
This paper presents a framework for fast and robust motion planning designed to facilitate automated driving. The framework allows for real-time computation even for horizons of several hundred meters and thus enabling automated driving in…
The contributions of this technical note are twofold. Firstly, we formulate an optimization problem to obtain a linear representation of a nonlinear vector field based on a system's trajectory. We also prove that its cost function is…
Vehicle trajectory optimization is essential to ensure vehicles travel efficiently and safely. This paper presents an infrastructure assisted constrained connected automated vehicles (CAVs) trajectory optimization method on curved roads.…