Collision risk assessment algorithm via lane-based probabilistic motion prediction of surrounding vehicles
J Kim, D Kum - IEEE Transactions on Intelligent Transportation …, 2017 - ieeexplore.ieee.org
In order to ensure reliable autonomous driving, the system must be able to detect future
dangers in sufficient time to avoid or mitigate collisions. In this paper, we propose a collision …
dangers in sufficient time to avoid or mitigate collisions. In this paper, we propose a collision …
Tunable and stable real-time trajectory planning for urban autonomous driving
This paper investigates real-time on-road motion planning algorithms for autonomous
passenger vehicles (APV) in urban environments, and propose a computationally efficient …
passenger vehicles (APV) in urban environments, and propose a computationally efficient …
Open source integrated planner for autonomous navigation in highly dynamic environments
Planning is one of the cornerstones of autonomous robot navigation. In this paper we
introduce an open source planner called “OpenPlanner” for mobile robot navigation …
introduce an open source planner called “OpenPlanner” for mobile robot navigation …
Fiss: A trajectory planning framework using fast iterative search and sampling strategy for autonomous driving
Trajectory planning is a critical component in autonomous vehicles directly responsible for
driving safety and efficiency during deployment. The ability to find the optimal trajectory in …
driving safety and efficiency during deployment. The ability to find the optimal trajectory in …
Sampling-based optimal trajectory generation for autonomous vehicles using reachable sets
G Würsching, M Althoff - 2021 IEEE International Intelligent …, 2021 - ieeexplore.ieee.org
Motion planners for autonomous vehicles must obtain feasible trajectories in real-time
regardless of the complexity of traffic conditions. Planning approaches that discretize the …
regardless of the complexity of traffic conditions. Planning approaches that discretize the …
Predictive cruise control using radial basis function network-based vehicle motion prediction and chance constrained model predictive control
Predicting future motions of surrounding vehicles and driver's intentions are essential to
avoid future potential risks. The predicting future motions, however, is very challenging …
avoid future potential risks. The predicting future motions, however, is very challenging …
Hierarchical motion planning for autonomous vehicles in unstructured dynamic environments
Y Qi, B He, R Wang, L Wang… - IEEE Robotics and …, 2022 - ieeexplore.ieee.org
This letter presents a hierarchical motion planner for generating smooth and feasible
trajectories for autonomous vehicles in unstructured environments with static and moving …
trajectories for autonomous vehicles in unstructured environments with static and moving …
[HTML][HTML] Laser-based people detection and obstacle avoidance for a hospital transport robot
K Zheng, F Wu, X Chen - Sensors, 2021 - mdpi.com
This paper describes the development of a laser-based people detection and obstacle
avoidance algorithm for a differential-drive robot, which is used for transporting materials …
avoidance algorithm for a differential-drive robot, which is used for transporting materials …
Model based trajectory planning for highly automated road vehicles
The aim of this paper is to present a local trajectory planning method based on nonlinear
optimization that is able to generate a dynamically feasible, comfortable and customizable …
optimization that is able to generate a dynamically feasible, comfortable and customizable …
An optimal complexity algorithm for minimum-time velocity planning
Velocity planning on a path to be followed by a wheeled autonomous vehicle may be difficult
when high curvatures and velocities are allowed. A fast, straightforward algorithm to address …
when high curvatures and velocities are allowed. A fast, straightforward algorithm to address …