This paper presents a different strategy for a self-driving car short-term path planning among
multiple moving obstacles. The main task is to study and implement a motion planning and …

This paper proposes a real-time local motion planning algorithm for autonomous vehicles,
which is based on model predictive control (MPC) subject to static and dynamic obstacles. In …

In this article, we propose a new approach to drive a vehicle at high speed along a
predetermined path using Model Predictive Control. Instead of modeling precise vehicle …

The aim of this study was to develop trajectory planning that would allow an autonomous
racing car to be driven as close as possible to what a driver would do, defining the most …

In this paper, we present an effective online planning solution for autonomous vehicles that
aims at improving the computational load while preserving high levels of performance in …

Path planning is discussed in this article for an autonomous vehicle given a route to follow.
Route data is considered to be available for a distance ahead of the vehicle in a receding …

The Frenét frame is commonly used in motion planning for its superiority of reshaping
nonconvex curving boundaries and decoupling lateral and longitudinal behaviors …

This thesis addresses motion planning and control of autonomous heavyduty industrial
vehicles, such as trucks and buses, using optimization-based techniques. Autonomous …

This work presents a waypoint trajectory planning technique for an autonomous vehicle in
the presence of obstacles using a tunnel-MILP formulation for the avoidance constraints …

In this study, we are concerned with autonomous driving missions when a static obstacle
blocks a given reference trajectory. To provide a realistic control design, we employ a model …