7 citations · 16 across the 10 of their papers we have counts for
5 papers · 1 filter
An Optimization-Based Receding Horizon Trajectory Planning Algorithm
Kristoffer Bergman, Oskar Ljungqvist, Torkel Glad +1
This paper presents an optimization-based receding horizon trajectory planning algorithm for dynamical systems operating in unstructured and cluttered environments. The proposed ap…
Optimization-based motion planning for multi-steered articulated vehicles
Oskar Ljungqvist, Kristoffer Bergman, Daniel Axehill
The task of maneuvering a multi-steered articulated vehicle in confined environments is difficult even for experienced drivers. In this work, we present an optimization-based traje…
A predictive path-following controller for multi-steered articulated vehicles
Oskar Ljungqvist, Daniel Axehill
Stabilizing multi-steered articulated vehicles in backward motion is a complex task for any human driver. Unless the vehicle is accurately steered, its structurally unstable joint-…
A path planning and path-following control framework for a general 2-trailer with a car-like tractor
Oskar Ljungqvist, Niclas Evestedt, Daniel Axehill +2
Maneuvering a general 2-trailer with a car-like tractor in backward motion is a task that requires significant skill to master and is unarguably one of the most complicated tasks a…
Improved Path Planning by Tightly Combining Lattice-based Path Planning and Numerical Optimal Control
Kristoffer Bergman, Oskar Ljungqvist, Daniel Axehill
This paper presents a unified optimization-based path planning approach to efficiently compute locally optimal solutions to advanced path planning problems. The approach is motivat…