A real-time motion planner with trajectory optimization for autonomous vehicles
作者： Wenda Xu , Junqing Wei , John M. Dolan , Huijing Zhao , Hongbin Zha
DOI: 10.1109/ICRA.2012.6225063
关键词: Mobile robot 、 Trajectory 、 Trajectory optimization 、 Motion planning 、 Iterative method 、 Planner 、 Computer science 、 Path (graph theory) 、 Mathematical optimization 、 Computational complexity theory
摘要: … constraint, the polynomial needs to be quartic rather than cubic. This improvement leads to a smooth … Therefore, to limit computation time, quartic polynomials are only used for trajectory …
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