A bilevel optimal motion planning (BOMP) model with application to autonomous parking

In this paper, we present a bilevel optimal motion planning (BOMP) model for autonomous parking. The BOMP model treats motion planning as an optimal control problem, in which the upper level is designed for vehicle nonlinear dynamics, and the lower level is for geometry collision-free constraints. T...

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Veröffentlicht in:	arXiv.org 2023-12
Hauptverfasser:	Shi, Shenglei, Xiong, Youlun, Chen, Jiankui, Xiong, Caihua
Format:	Artikel
Sprache:	eng
Schlagworte:	Algorithms Collision avoidance Collision dynamics Control methods Ellipsoids Linear programming Motion planning Nonlinear control Nonlinear dynamics Optimal control Parking Polyhedra Trajectory optimization
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