.png){kind=icon}
返回
Tunable Trajectory Planner Using G3 Curves
.png){kind=icon}
PRE
AI
DOI：10.1109/TIV.2022.3141881.png)
.png){kind=icon}
原文求助.png){kind=icon}
分享.png){kind=icon}
收藏
摘要
En 中文
Trajectory planning is commonly used as part of a local planner in autonomous driving. This paper considers the problem of planning a continuous-curvature-rate trajectory between fixed start and goal states that minimizes a tunable trade-off between passenger comfort and travel time. The problem is an instance of infinite dimensional optimization over two continuous functions: a path and a velocity profile. We propose a simplification of this problem that facilitates the discretization of both functions. This paper also proposes a method to quickly generate minimal-length paths between start and goal states based on a single tuning parameter: the second derivative of curvature. Further, we discretize the set of velocity profiles along a given path into a selection of longitudinal jerk way-points along the path. Finally, we repeatedly solve the path and velocity profiles in an iterative fashion. Numerical examples are provided to illustrate the benefits of the proposed methods.
Keyword:
Trajectory
Planning
Trajectory planning
Computational modeling
Vehicle dynamics
Tracking
Dynamics
Motion planning
path planning
trajectory optimization
期刊
I
IF:
14.3
论文数:
1.2K
被引数:
1.2W
机构
引用论文
Field demonstration of a cost-optimized solar powered electrodialysis reversal desalination system in rural India.png)
Desalination
DesalinationIF0
PREAI
分享收藏
查看更多内容