Time-Optimal Trajectory Planning along Parametric Polynomial Lane-Change Curves with Bounded Velocity and Acceleration: Simulations for a Unicycle Based on Numerical Integration
G2 lane-change path imposes symmetric conditions on the path geometric properties. This paper presents the comparative study of time-optimal velocities to minimize the time needed for traversal of three planar symmetric parametric polynomial lane-change paths followed by an autonomous vehicle, assum...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Hindawi Limited
2018-01-01
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| Series: | Modelling and Simulation in Engineering |
| Online Access: | http://dx.doi.org/10.1155/2018/9348907 |