Real-Time Unified Trajectory Planning and Optimal Control for Urban Autonomous Driving Under Static and Dynamic Obstacle Constraints.
Rowan DempsterMohammad K. Al-SharmanDerek RaysideWilliam MelekPublished in: ICRA (2023)
Keyphrases
- optimal control
- trajectory planning
- real time
- autonomous driving
- obstacle avoidance
- dynamic programming
- mobile robot
- motion planning
- path planning
- robot manipulators
- control strategy
- grand challenge
- urban traffic
- reinforcement learning
- dynamic environments
- optimal control problems
- situational awareness
- vision system
- control system
- vision algorithms
- dynamic model
- three dimensional