相关论文: Trajectory Generation using Sharpness Continuous D…

One of the challenges to reduce the gap between the machine and the human level driving is how to endow the system with the learning capacity to deal with the coupled complexity of environments, intentions, and dynamics. In this paper, we…

In recent decades, global path planning of robot has seen significant advancements. Both heuristic search-based methods and probability sampling-based methods have shown capabilities to find feasible solutions in complex scenarios. However,…

Research in the field of automated driving has created promising results in the last years. Some research groups have shown perception systems which are able to capture even complicated urban scenarios in great detail. Yet, what is often…

In the real-world, self-driving vehicles are required to achieve steering maneuvers in both uncontrolled and uncertain environments while maintaining high levels of safety and passengers' comfort. Ignoring these requirements would…

Homotopy methods are attractive due to their capability of solving difficult optimisation and optimal control problems. The underlying idea is to construct a homotopy, which may be considered as a continuous (zero) curve between the…

We present DDTO--deferred-decision trajectory optimization--a framework for trajectory generation with resilience to unmodeled uncertainties and contingencies. The key idea is to ensure that a collection of candidate targets is reachable…

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…

This work investigates an efficient trajectory generation for chasing a dynamic target, which incorporates the detectability objective. The proposed method actively guides the motion of a cinematographer drone so that the color of a target…

We present a framework for dynamic trajectory generation for autonomous navigation, which does not rely on HD maps as the underlying representation. High Definition (HD) maps have become a key component in most autonomous driving…

MPC (Model predictive control)-based motion planning and trajectory generation are essential in applications such as unmanned aerial vehicles, robotic manipulators, and rocket control. However, the real-time implementation of such…

With the rapid development of machine learning, autonomous driving has become a hot issue, making urgent demands for more intelligent perception and planning systems. Self-driving cars can avoid traffic crashes with precisely predicted…

Path following controllers make the output of a control system approach and traverse a pre-specified path with no apriori time parametrization. In this paper we present a method for path following control design applicable to framed curves…

In normal on-road situations, autonomous vehicles will be expected to have smooth trajectories with relatively little demand on the vehicle dynamics to ensure passenger comfort and driving safety. However, the occurrence of unexpected…

Generating trajectory data is among promising solutions to addressing privacy concerns, collection costs, and proprietary restrictions usually associated with human mobility analyses. However, existing trajectory generation methods are…

In this article, the candidate optimal paths for a Dubins vehicle on a sphere are analytically derived. In particular, the arc angles for segments in $CGC$, $CCC$, $CCCC$, and $CCCCC$ paths, which have previously been shown to be optimal…

Being able to rapidly respond to the changing scenes and traffic situations by generating feasible local paths is of pivotal importance for car autonomy. We propose to train a deep neural network (DNN) to plan feasible and nearly-optimal…

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…

In this paper, we present a novel optimization-based framework for autonomous excavator trajectory generation under various objectives, including minimum joint displacement and minimum time. Traditional methods on excavation trajectory…

Ensuring safety in autonomous vehicles necessitates advanced path planning and obstacle avoidance capabilities, particularly in dynamic environments. This paper introduces a bi-level control framework that efficiently augments road…

For many tasks, predictive path-following control can significantly improve the performance and robustness of autonomous robots over traditional trajectory tracking control. It does this by prioritizing closeness to the path over timed…