General Optimal Trajectory Planning: Enabling Autonomous Vehicles with the Principle of Least Action

General Optimal Trajectory Planning: Enabling Autonomous Vehicles with the Principle of Least Action

This study presents a general optimal trajectory planning (GOTP) framework for autonomous vehicles (AVs) that can effectively avoid obstacles and guide AVs to complete driving tasks safely and efficiently. Firstly, we employ the fifth-order Bezier curve to generate and smooth the reference path alon...

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Bibliographic Details
Main Authors: Heye Huang, Yicong Liu, Jinxin Liu, Qisong Yang, Jianqiang Wang, David Abbink, Arkady Zgonnikov
Format: Article
Language:English
Published: Elsevier 2024-02-01
Series:Engineering
Subjects:
Autonomous vehicle
Trajectory planning
Multi-performance objectives
Principle of least action
Online Access:http://www.sciencedirect.com/science/article/pii/S2095809923004605

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http://www.sciencedirect.com/science/article/pii/S2095809923004605

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