- document
-
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