Optimal Vehicle Trajectory Planning for Static Obstacle Avoidance using Nonlinear Optimization.
Yajia ZhangHongyi SunRuizhi ChaiDaike KangShan LiLiyun LiPublished in: CoRR (2023)
Keyphrases
- trajectory planning
- obstacle avoidance
- nonlinear optimization
- autonomous vehicles
- mobile robot
- path planning
- motion planning
- closed form solutions
- optimization method
- optimal path
- dynamic environments
- robot manipulators
- closed form
- bundle adjustment
- starting points
- optimal solution
- real time
- optimization algorithm
- global search
- multi modal
- particle swarm optimization
- simulated annealing
- optical flow