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	A Real-Time Motion Planner with Trajectory Optimization for Autonomous Vehicles
	Xu, Wenda ; Wei, Junqing ; Dolan, John M. ; Zhao, Huijing ; Zha, Hongbin
	2012
关键词	ENVIRONMENTS
英文摘要	In this paper, an efficient real-time autonomous driving motion planner with trajectory optimization is proposed. The planner first discretizes the plan space and searches for the best trajectory based on a set of cost functions. Then an iterative optimization is applied to both the path and speed of the resultant trajectory. The post-optimization is of low computational complexity and is able to converge to a higher-quality solution within a few iterations. Compared with the planner without optimization, this framework can reduce the planning time by 52% and improve the trajectory quality. The proposed motion planner is implemented and tested both in simulation and on a real autonomous vehicle in three different scenarios. Experiments show that the planner outputs high-quality trajectories and performs intelligent driving behaviors.; Automation & Control Systems; Engineering, Electrical & Electronic; Robotics; EI; CPCI-S(ISTP); 3
语种	英语
DOI标识	10.1109/ICRA.2012.6225063
内容类型	其他
源URL	[http://ir.pku.edu.cn/handle/20.500.11897/292856]
专题	信息科学技术学院
推荐引用方式 GB/T 7714	Xu, Wenda,Wei, Junqing,Dolan, John M.,et al. A Real-Time Motion Planner with Trajectory Optimization for Autonomous Vehicles. 2012-01-01.

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