Hybrid Trajectory Planning for Autonomous Driving in Highly Constrained Environments

Hybrid Trajectory Planning for Autonomous Driving in Highly Constrained Environments

In this paper, we introduce a novel and efficient hybrid trajectory planning method for autonomous driving in highly constrained environments. The contributions of this paper are fourfold. First, we present a trajectory planning framework that is able to handle geometry constraints, nonholonomic con...

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Bibliographic Details
Main Authors: Yu Zhang, Huiyan Chen, Steven L. Waslander, Jianwei Gong, Guangming Xiong, Tian Yang, Kai Liu
Format: Article
Language:English
Published: IEEE 2018-01-01
Series:IEEE Access
Subjects:
Trajectory planning
motion planning
autonomous driving
obstacle avoidance
kinodynamic constraints
collision checking
Online Access:https://ieeexplore.ieee.org/document/8375948/

Internet

https://ieeexplore.ieee.org/document/8375948/

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