Trajectory Optimization for Curvature Bounded Non-Holonomic Vehicles: Application to Autonomous Driving

In this paper, we propose a trajectory optimization for computing smooth collision free trajectories for nonholonomic curvature bounded vehicles among static and dynamic obstacles. One of the key novelties of our formulation is a hierarchal optimization routine which alternately operates in the spac...

Ausführliche Beschreibung

Bibliographische Detailangaben

Hauptverfasser:	Babu, Mithun, Oza, Yash, Balaji, C. A, Singh, Arun Kumar, Gopakarishnan, Bharath, Kirshna, K. Madhava
Format:	Artikel
Sprache:	eng
Schlagworte:	Computer Science - Robotics
Online-Zugang:	Volltext bestellen
Tags:	Tag hinzufügen Keine Tags, Fügen Sie den ersten Tag hinzu!