Computationally Efficient Fail-safe Trajectory Planning for Self-driving Vehicles Using Convex Optimization.
Christian PekMatthias AlthoffPublished in: ITSC (2018)
Keyphrases
- convex optimization
- trajectory planning
- computationally efficient
- motion planning
- obstacle avoidance
- traffic accidents
- dynamic environments
- driving behavior
- path planning
- robot manipulators
- interior point methods
- real time
- mobile robot
- low rank
- total variation
- convex relaxation
- primal dual
- convex optimization problems
- degrees of freedom
- norm minimization
- computational complexity
- operator splitting
- multi robot
- dynamic model
- neural network