This paper presents a fast adaptive planning method for tractor-trailer systems that resolves parameter uncertainties by adapting a nominal trajectory to true parameters via iLQR, eliminating the need to store MPs for various configurations.
This paper addresses the navigation problem of automated guided vehicles (AGVs) in complex environments by proposing a collaborative trajectory optimization strategy based on the Set Membership Filter (SMF) and Model Predictive Control (MPC). In contrast, the traditional probability distribution-based navigation method...
Zonghe Ding, Ling Chen, Jin-Tao Wang et al.· PLoS ONE· 0 citations
Autonomous racecars operate at the limits of vehicle dynamics, where small control errors translate into safety-critical behavior and lost performance. Trajectory planners assume perfect tracking and remain blind to execution errors. To guarantee safety, trajectory planners therefore restrict themselves to conservative...
Ann-Kathrin Schwehn, Alexander Langmann, Mattia Piccinini et al.· 0 citations
Planning fast and dynamically feasible motions within prescribed safe regions in $C$-space is a critical requirement for many dynamical systems, including manipulators and unmanned aerial vehicles, especially when operating near their performance limits. Existing planning pipelines often compute a collision-free geomet...
Gerhard Reinerth, Riddhiman Laha, L. Figueredo et al.· IEEE Robotics and Automation...· 0 citations
Path planning is a critical component of autonomous driving, particularly in complex unstructured environments characterized by the absence of clearly defined drivable corridors and the presence of irregular obstacles. A widely adopted two-stage framework under such conditions involves generating an initial path follow...
Hui-Hui Pan, Zhi Zhu, Jue Wang et al.· IEEE Transactions on Automat...· 0 citations
In response to the problems of insufficient trajectory tracking accuracy for autonomous vehicles in complex road conditions and the tendency of traditional algorithms to cause uncontrollable overshoots, this paper proposes a closed-loop tracking strategy based on model predictive control technology. This strategy first...
Yu-Xiang Li· International Conference on...· 0 citations
Trajectory planning is a critical component in the structure of autonomous vehicles (AVs). However, generating trajectories that simultaneously satisfy multiple requirements for safety, comfort, and low computational cost in stochastic environments remains a challenge. This study proposes a hierarchical trajectory plan...
D. Bui, Ngoc Thinh Nguyen, H. Nguyen et al.· IEEE Access· 0 citations
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