A Two-Stage Optimization-Based Motion Planner for Safe Urban Driving
IEEE Transactions on Robotics(2022)
摘要
Recent road trials have shown that guaranteeing the safety of driving decisions is essential for the wider adoption of autonomous vehicle technology. One promising direction is to pose safety requirements as planning constraints in nonlinear, nonconvex optimization problems of motion synthesis. However, many implementations of this approach are limited by uncertain convergence and local optimality...
更多查看译文
关键词
Planning,Optimization,Transforms,Safety,Shape,Convergence,Roads
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络
Chat Paper
正在生成论文摘要