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General Optimal Trajectory Planning: Enabling Autonomous Vehicles with the Principle of Least ActionHuang, H. (author), Liu, Yicong (author), Liu, Jinxin (author), Yang, Q. (author), Wang, Jianqiang (author), Abbink, David (author), Zgonnikov, A. (author)This study presents a general optimal trajectory planning (GOTP) framework for autonomous vehicles (AVs) that can effectively avoid obstacles and guide AVs to complete driving tasks safely and efficiently. Firstly, we employ the fifth-order Bezier curve to generate and smooth the reference path along the road centerline. Cartesian coordinates...journal article 2024
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Du, Guodong (author), Zou, Yuan (author), Zhang, Xudong (author), Li, Z. (author), Liu, Qi (author)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 driving. In order to further improve the performance of motion planning and tracking control, an efficient hierarchical framework containing motion planning and tracking...journal article 2023