Improved Trajectory Planning for On-Road Self-Driving Vehicles Via Combined Graph Search, Optimization & Topology Analysis
Trajectory planning is an important component of autonomous driving. It takes the result of route-level navigation plan and generates the motion-level commands that steer an autonomous passenger vehicle (APV). Prior work on solving this problem uses either a sampling-based or optimization-based traj...
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| Format: | Others |
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Research Showcase @ CMU
2017
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| Online Access: | http://repository.cmu.edu/dissertations/794 http://repository.cmu.edu/cgi/viewcontent.cgi?article=1833&context=dissertations |