Vehicles are highly coupled and multi-degree nonlinear systems. The establishment of an
appropriate vehicle dynamical model is the basis of motion planning for autonomous …

Motion planning by considering it as an optimal problem is an effective and widely
applicable method. Its comprehensive performance greatly depends on the vehicle …

This letter presents a hierarchical motion planner for generating smooth and feasible
trajectories for autonomous vehicles in unstructured environments with static and moving …

With the progress of autonomous driving technology, obtaining a safe and smooth trajectory
in complex environments is the focus of motion planning in recent years. This paper …

The autonomous vehicle is widely applied in various ground operations, in which motion
planning and tracking control are becoming the key technologies to achieve autonomous …

This paper presents a novel local motion planning framework in a hierarchical manner for
autonomous vehicles to follow a trajectory and agilely avoid obstacles. In the upper layer, a …

Motion planning algorithms, an essential part of the autonomous driving system, have been
extensively studied. However, in large-scale complex scenarios, how to develop an optimal …

This paper presents self-adaptive motion prediction-based proactive motion planning for
autonomous driving in urban environments. In order to achieve fully autonomous driving in …

This paper presents a hierarchical motion planning approach based on discrete optimization
method. Well-coupled longitudinal and lateral planning strategies with adaptability features …

This paper presents a novel probabilistic approach for improving the motion planning
performance of autonomous driving. The proposed approach is based on the sampling …