A Decoupled Trajectory Planning Framework Based on the Integration of Lattice Searching and Convex Optimization

A Decoupled Trajectory Planning Framework Based on the Integration of Lattice Searching and Convex Optimization

This paper presents a decoupled trajectory planning framework based on the integration of lattice searching and convex optimization for autonomous driving in structured environments. For a 3D trajectory planning problem with timestamps information, due to the presence of multiple kinds of constraint...

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Bibliographic Details
Main Authors: Yu Meng, Yangming Wu, Qing Gu, Li Liu
Format: Article
Language:English
Published: IEEE 2019-01-01
Series:IEEE Access
Subjects:
Trajectory planning
path planning
speed profile planning
lattice searching
Dijkstra’s algorithm
nonlinear optimization
Online Access:https://ieeexplore.ieee.org/document/8832198/

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