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: CoRR (2022)
Keyphrases
- optimal control
- trajectory planning
- real time
- autonomous driving
- dynamic programming
- obstacle avoidance
- control strategy
- motion planning
- mobile robot
- urban traffic
- path planning
- dynamic environments
- grand challenge
- robot manipulators
- situational awareness
- optimal control problems
- vision system
- reinforcement learning
- autonomous vehicles
- control system
- stereo vision
- particle swarm optimization
- neural network