相关论文: OCEAN: An Openspace Collision-free Trajectory Plan…

Motion planning for urban environments with numerous moving agents can be viewed as a combinatorial problem. With passing an obstacle before, after, right or left, there are multiple options an autonomous vehicle could choose to execute.…

This paper proposes vehicle motion planning methods with obstacle avoidance in tight spaces by incorporating polygonal approximations of both the vehicle and obstacles into a model predictive control (MPC) framework. Representing these…

Despite over a decade of development, autonomous driving trajectory planning in complex urban environments continues to encounter significant challenges. These challenges include the difficulty in accommodating the multi-modal nature of…

Decision-making, motion planning, and trajectory prediction are crucial in autonomous driving systems. By accurately forecasting the movements of other road users, the decision-making capabilities of the autonomous system can be enhanced,…

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 presents a Segmented Trajectory Optimization (STO) method for autonomous parking, which refines an initial trajectory into a dynamically feasible and collision-free one using an iterative SQP-based approach. STO maintains the…

This paper presents an integrated navigation framework for Autonomous Mobile Robots (AMRs) that unifies environment representation, trajectory generation, and Model Predictive Control (MPC). The proposed approach incorporates a…

This paper proposes a decentralized trajectory planning framework for the collision avoidance problem of multiple micro aerial vehicles (MAVs) in environments with static and dynamic obstacles. The framework utilizes spatiotemporal…

In the path planning problem of autonomous application, the existing studies separately consider the path planning and trajectory tracking control of the autonomous vehicle and few of them have integrated the trajectory planning and…

Energy efficiency and safety are two critical objectives for marine vehicles operating in environments with obstacles, and they generally conflict with each other. In this paper, we propose a novel online motion planning method of marine…

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…

Parking a vehicle in tight spaces is a challenging task to perform due to the scarcity of feasible paths that are also collision-free. This paper presents a strategy to tackle this kind of maneuver with a modified Hybrid-A* path-planning…

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,…

This paper proposes a novel methodology for trajectory planning in autonomous vehicles (AVs), addressing the complex challenge of negotiating speed bumps within a unified Mixed-Integer Quadratic Programming (MIQP) framework. By leveraging…

Robust machine learning is currently one of the most prominent topics which could potentially help shaping a future of advanced AI platforms that not only perform well in average cases but also in worst cases or adverse situations. Despite…

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…

Autonomous driving technology has rapidly evolved over the past decade, offering significant improvements in transportation efficiency, safety, and cost reduction. While much of the progress has focused on highway driving and obstacle…

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…

A path-planning algorithm for connected and non-connected automated road vehicles on multilane motorways is derived from the opportune formulation of an optimal control problem. In this framework, the objective function to be minimized…

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…