相关论文: Segmented Trajectory Optimization for Autonomous P…

In this article, we consider the problem of trajectory planning and control for on-road driving of an autonomous ground vehicle (AGV) in presence of static or moving obstacles. We propose a systematic approach to partition the…

Time-optimal motion planning of autonomous vehicles in complex environments is a highly researched topic. This paper describes a novel approach to optimize and execute locally feasible trajectories for the maneuvering of a truck-trailer…

In this paper, a novel closed-loop control framework for autonomous obstacle avoidance on a curve road is presented. The proposed framework provides two main functionalities; (i) collision free trajectory planning using MPC and (ii) a…

Autonomous vehicles must navigate dynamically uncertain environments while balancing safety and efficiency. This challenge is exacerbated by unpredictable human-driven vehicle (HV) behaviors and perception inaccuracies, necessitating…

Accurate vehicle trajectory prediction is essential for ensuring safety and efficiency in fully autonomous driving systems. While existing methods primarily focus on modeling observed motion patterns and interactions with other vehicles,…

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…

In this paper, we describe an approach to guide drivers searching for a parking space (PS). The proposed system suggests a sequence of routes that drivers should traverse in order to maximise the expected likelihood of finding a PS and…

Jerk-constrained trajectories offer a wide range of advantages that collectively improve the performance of robotic systems, including increased energy efficiency, durability, and safety. In this paper, we present a novel approach to…

An algorithm is developed to optimize vehicle speed trajectory over multiple signalized intersections with known traffic signal information to minimize fuel consumption and travel time, and to meet ride comfort requirements using sequential…

Trajectory optimization methods for motion planning attempt to generate trajectories that minimize a suitable objective function. Such methods efficiently find solutions even for high degree-of-freedom robots. However, a globally optimal…

In this paper, we present a bilevel optimal motion planning (BOMP) model for autonomous parking. The BOMP model treats motion planning as an optimal control problem, in which the upper level is designed for vehicle nonlinear dynamics, and…

Autonomous terrain traversal of articulated tracked robots can reduce operator cognitive load to enhance task efficiency and facilitate extensive deployment. We present a novel hybrid trajectory optimization method aimed at generating…

Autonomous parking (AP) is an emering technique to navigate an intelligent vehicle to a parking space without any human intervention. Existing AP methods based on mathematical optimization or machine learning may lead to potential failures…

This paper presents a novel method for reformulating non-differentiable collision avoidance constraints into smooth nonlinear constraints using strong duality of convex optimization. We focus on a controlled object whose goal is to avoid…

Self driving vehicles should be able to perform parallel parking or a similar maneuver successfully. With this motivation, the S shaped maneuverability test of the Ohio driver license examination is chosen here for automatic execution by a…

This paper introduces a hierarchical framework that integrates graph search algorithms and model predictive control to facilitate efficient parking maneuvers for Autonomous Vehicles (AVs) in constrained environments. In the high-level…

This paper introduces a new algorithm for trajectory optimization, Decoupled Reduced-space and Adaptive Feasibility-repair Trajectory Optimization (DRAFTO). It first constructs a constrained objective that accounts for smoothness, safety,…

Motion planning is a key element of robotics since it empowers a robot to navigate autonomously. Particle Swarm Optimization is a simple, yet a very powerful optimization technique which has been effectively used in many complex…

In this paper, we propose an Openspace Collision-freE trAjectory plaNner (OCEAN) for autonomous parking. OCEAN is an optimization-based trajectory planner accelerated by Alternating Direction Method of Multiplier (ADMM) with enhanced…

Automated vehicles require efficient and safe planning to maneuver in uncertain environments. Largely this uncertainty is caused by other traffic participants, e.g., surrounding vehicles. Future motion of surrounding vehicles is often…