A Hierarchical Motion Planning Framework for Autonomous Driving in Structured Highway Environments
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Access"
DOI: 10.1109/access.2022.3152187
Abstract: This paper presents an efficient hierarchical motion planning framework with a long planning horizon for autonomous driving in structured environments. A 3D motion planning with time information is a non-convex problem because there exists more… read more here.
Keywords: time; hierarchical motion; planning; planning framework ... See more keywords
Hierarchical Motion Planning for Autonomous Vehicles in Unstructured Dynamic Environments
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3228159
Abstract: This letter presents a hierarchical motion planner for generating smooth and feasible trajectories for autonomous vehicles in unstructured environments with static and moving obstacles. The framework enables real-time computation by progressively shrinking the solution space.… read more here.
Keywords: autonomous vehicles; vehicles unstructured; hierarchical motion; motion ... See more keywords