Title
Tunable Trajectory Planner Using G<sup>3</sup> Curves
Abstract
Trajectory planning is commonly used as part of a local planner in autonomous driving. This paper considers the problem of planning a continuous-curvature-rate trajectory between fixed start and goal states that minimizes a tunable trade-off between passenger comfort and travel time. The problem is an instance of infinite dimensional optimization over two continuous functions: a path and a velocity profile. We propose a simplification of this problem that facilitates the discretization of both functions. This paper also proposes a method to quickly generate minimal-length paths between start and goal states based on a single tuning parameter: the second derivative of curvature. Further, we discretize the set of velocity profiles along a given path into a selection of longitudinal jerk way-points along the path. Finally, we repeatedly solve the path and velocity profiles in an iterative fashion. Numerical examples are provided to illustrate the benefits of the proposed methods.
Year
DOI
Venue
2022
10.1109/TIV.2022.3141881
IEEE Transactions on Intelligent Vehicles
Keywords
DocType
Volume
Motion planning,path planning,trajectory optimization
Journal
7
Issue
ISSN
Citations 
2
2379-8858
0
PageRank 
References 
Authors
0.34
9
2
Name
Order
Citations
PageRank
Alexander Botros100.68
Stephen L Smith2116383.01