相关论文: Collision-free Trajectory Planning for Autonomous …
Path planning for autonomous vehicles in arbitrary environments requires a guarantee of safety, but this can be impractical to ensure in real-time when the vehicle is described with a high-fidelity model. To address this problem, this paper…
An important capability of autonomous Unmanned Aerial Vehicles (UAVs) is autonomous landing while avoiding collision with obstacles in the process. Such capability requires real-time local trajectory planning. Although trajectory-planning…
This research introduces two efficient methods to estimate the collision risk of planned trajectories in autonomous driving under uncertain driving conditions. Deterministic collision checks of planned trajectories are often inaccurate or…
Path planning and collision avoidance are challenging in complex and highly variable environments due to the limited horizon of events. In literature, there are multiple model- and learning-based approaches that require significant…
Deploying self-navigating surface vessels in inland waterways offers a sustainable alternative to reduce road traffic congestion and emissions. However, navigating confined waterways presents unique challenges, including narrow channels,…
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…
Efficient trajectory generation in complex dynamic environments remains an open problem in the unmanned surface vehicle (USV). The perception of the USV is usually interfered with by the swing of the hull and the ambient weather, making it…
This paper introduces a novel numerical approach to achieving smooth lane-change trajectories in autonomous driving scenarios. Our trajectory generation approach leverages particle swarm optimization (PSO) techniques, incorporating Neural…
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…
Motivated by the requirements for effectiveness and efficiency, path-speed decomposition-based trajectory planning methods have widely been adopted for autonomous driving applications. While a global route can be pre-computed offline,…
Trajectory planning is crucial for the safe driving of autonomous vehicles in highway traffic flow. Currently, some advanced trajectory planning methods utilize spatio-temporal voxels to construct feasible regions and then convert…
Efficient trajectory planning for urban intersections is currently one of the most challenging tasks for an Autonomous Vehicle (AV). Courteous behavior towards other traffic participants, the AV's comfort and its progression in the…
This paper proposes a path planning algorithm for autonomous vehicles, evaluating collision severity with respect to both static and dynamic obstacles. A collision severity map is generated from ratings, quantifying the severity of…
In this paper, a risk map-based path planning algorithm is introduced for autonomous vehicles. Multivariate B-splines are implemented to generate a risk map, which measures the risk of colliding with different objects. In the following…
This research addresses the increasing demand for advanced navigation systems capable of operating within confined surroundings. A significant challenge in this field is developing an efficient planning framework that can generalize across…
Path planning is a key component in motion planning for autonomous vehicles. A path specifies the geometrical shape that the vehicle will travel, thus, it is critical to safe and comfortable vehicle motions. For urban driving scenarios,…
This paper presents an integrated approach that combines trajectory optimization and Artificial Potential Field (APF) method for real-time optimal Unmanned Aerial Vehicle (UAV) trajectory planning and dynamic collision avoidance. A…
This paper presents an optimization-based collision avoidance trajectory generation method for autonomous driving in free-space environments, with enhanced robustness, driving comfort and efficiency. Starting from the hybrid…
Gradient-based trajectory optimization with B-spline curves is widely used for unmanned aerial vehicles (UAVs) due to its fast convergence and continuous trajectory generation. However, the application of B-spline curves for path-velocity…
Structural dimensional inspection is vital for the process monitoring, quality control, and fault diagnosis in the mass production of auto bodies. Comparing with the non-contact measurement, the high-precision five-axis measuring machine…