Comfort-Aware Trajectory Planning in Autonomous Driving via Multi-Objective Nonlinear Model Predictive Control.
Sofia PaganelliIlhan YunusLorenzo FagianoPublished in: CCTA (2022)
Keyphrases
- trajectory planning
- multi objective
- autonomous driving
- motion planning
- grand challenge
- nonlinear model predictive control
- evolutionary algorithm
- obstacle avoidance
- robot manipulators
- stereo vision
- optimization algorithm
- path planning
- dynamic environments
- dynamic model
- genetic algorithm
- image based visual servoing
- vision algorithms
- objective function
- particle swarm optimization
- degrees of freedom
- mobile robot
- urban traffic
- computationally efficient
- visual servoing
- situational awareness
- vision system