This paper is concerned with the planning problem of smooth global path for mobile robots
with kinematic constraints. A new approach is proposed that is based on a modified particle …

Trajectory planning in dynamic environments can be decomposed into two sub-problems: 1)
planning a path to avoid static obstacles, 2) then planning a speed profile to avoid dynamic …

This paper presents a hierarchical framework with novel analytical and neural physics-
driven models, to enable the online planning and tracking of minimum-time maneuvers, for a …

Driving on the limits of vehicle dynamics requires predictive planning of future vehicle states.
In this work, a search-based motion planning is used to generate suitable reference …

In the last decades, a large variety of robot motion planners emerged. However,
manoeuvring in very narrow environments, eg, for common parking scenarios, cannot be …

Planning the optimal trajectory of emergency avoidance maneuvers for highly automated
vehicles is a complex task with many challenges. The algorithm needs to decrease accident …

In this paper, we present a real-time non-linear model-predictive control (NMPC) framework
to perform minimum-time motion planning for autonomous racing cars. We introduce an …

An online trajectory planning method for collision avoidance is proposed to improve vehicle
driving safety and comfort simultaneously. The collision-free trajectory for autonomous …

Trajectory planning is one of the most complex tasks that should be accomplished in order to
ensure vehicle autonomous driving. Trajectory planning can be classified into local and …

Path planning plays a vital role in autonomous driving as it needs to guide the vehicle to
achieve the target position without collision while satisfying the vehicle's non-holonomic …