Curvature Aware Motion Planning with Closed-Loop Rapidly-exploring Random Trees: Towards a generic motion planning algorithm

Last decades the autonomous driving research field has shown exponential growth. The social benefits, which include increased safety, mobility and productivity, are the main factor that drive this growth. One of the most difficult problems that vehicle engineers must solve to develop autonomous vehicles is the motion planning problem. They must...

Optimal Control Allocation on Over-Actuated Vehicles

Modern passenger vehicles are equipped with an increasing number of actuators that may be used to actively control the lateral and longitudinal dynamics of the vehicle. During limit-handling situations, proper coordination of all the available actuators by the vehicle stability control (VSC) can lead to improved overall control authority, which...