3 accepted papers
Time-optimal trajectory generation (TOTG) is critical in robotics applications to minimize travel time and increase robot task efficiency. To ensure the trajectory is feasible and executable by the robot, it is important to constrain the trajectory kinodynamics subject to the robot actuator limits.
This paper presents an integrated motion planning system for autonomous vehicle (AV) parking in the presence of other moving vehicles. The proposed system includes 1) a hybrid environment predictor that predicts the motions of the surrounding vehicles and 2) a strategic motion planner that reacts to…
This paper presents a motion planning strategy that utilizes the improved A -search guided tree to enable autonomous parking of a general 3-trailer with a car-like tractor. Different from the state-of-the-art state-lattice-based methods, where numerous motion primitives are necessary to ensure succe…