An Optimized Trajectory Planner and Motion Controller Framework for Autonomous Driving in Unstructured Environments

An Optimized Trajectory Planner and Motion Controller Framework for Autonomous Driving in Unstructured Environments

This paper proposes an optimized trajectory planner and motion planner framework, which aim to deal with obstacle avoidance along a reference road for autonomous driving in unstructured environments. The trajectory planning problem is decomposed into lateral and longitudinal planning sub-tasks along...

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Bibliographic Details
Main Authors: Lu Xiong, Zhiqiang Fu, Dequan Zeng, Bo Leng
Format: Article
Language:English
Published: MDPI AG 2021-06-01
Series:Sensors
Subjects:
autonomous driving
trajectory planner
obstacle avoidance
motion controller
model predictive control
Online Access:https://www.mdpi.com/1424-8220/21/13/4409

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