Runxin He

Autonomous Driving Trajectory Optimization With Dual-Loop Iterative Anchoring Path Smoothing and Piecewise-Jerk Speed Optimization

This letter presents a free space trajectory optimization algorithm for autonomous driving, which decouples the collision-free trajectory generation problem into a Dual-Loop Iterative Anchoring Path Smoothing (DL-IAPS) problem and a Piecewise-Jerk Speed Optimization (PJSO) problem. The work leads to