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cs.RO2017
Trajectory Optimization for Curvature Bounded Non-Holonomic Vehicles: Application to Autonomous Driving
Mithun Babu, Yash Oza, C. A. Balaji +3
In this paper, we propose a trajectory optimization for computing smooth collision free trajectories for nonholonomic curvature bounded vehicles among static and dynamic obstacles.…
cs.RO2017
Model Predictive Control for Autonomous Driving Based on Time Scaled Collision Cone
Mithun Babu, Yash Oza, Arun Kumar Singh +2
In this paper, we present a Model Predictive Control (MPC) framework based on path velocity decomposition paradigm for autonomous driving. The optimization underlying the MPC has a…