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dc.contributor.authorLattarulo, Ray
dc.contributor.authorGonzalez, Leonardo
dc.contributor.authorPerez, Joshue
dc.date.accessioned2021-07-30T09:55:27Z
dc.date.available2021-07-30T09:55:27Z
dc.date.issued2020
dc.identifier.citationLattarulo, Ray, Leonardo Gonzalez, and Joshue Perez. “Real-Time Trajectory Planning Method Based On N-Order Curve Optimization.” 2020 24th International Conference on System Theory, Control and Computing (ICSTCC) (October 8, 2020). doi:10.1109/icstcc50638.2020.9259787.en
dc.identifier.isbn978-1-7281-9810-1en
dc.identifier.issn2372-1618en
dc.identifier.urihttp://hdl.handle.net/11556/1172
dc.description.abstractIn recent years, many functionalities were developed for Automated Vehicles (AVs) and some of them with close-to-market prototypes. A required topic is the generation of continuous trajectories that reduces the amount of discrete and pre-coded instructions while leading the vehicle safely. Consequently, this work presents a novel real-time trajectory planning approach based on numerical optimization of n-order Bézier curves and lane-based information. The generation of a feasible trajectory considers the vehicle dimension while driving into a lane-corridor. The nonlinear optimization problem was solved with the Bound Optimization BY Quadratic Approximation method (BOBYQA), and it uses the passengers' comfort, safety, and vehicle dynamics as constraints of the problem. The solution is validated in a simulation environment using a bus with a length of 12 meters. Moreover, the validation considered the roundabouts due to its complexity, nevertheless, the solution is scalable to other scenarios.en
dc.description.sponsorshipH2020 SHOW No 875530en
dc.language.isoengen
dc.publisherInstitute of Electrical and Electronics Engineers Inc.en
dc.titleReal-Time Trajectory Planning Method Based On N-Order Curve Optimizationen
dc.typeconferenceObjecten
dc.identifier.doi10.1109/icstcc50638.2020.9259787en
dc.relation.projectIDinfo:eu-repo/grantAgreement/EC/H2020/875530/EU/SHared automation Operating models for Worldwide adoption/SHOWen
dc.rights.accessRightsopenAccessen
dc.subject.keywordsTrajectoryen
dc.subject.keywordsRoadsen
dc.subject.keywordsVehicle dynamicsen
dc.subject.keywordsPlanningen
dc.subject.keywordsGeometryen
dc.subject.keywordsTask analysisen
dc.subject.keywordsLinear programmingen
dc.page.final756en
dc.page.initial751en
dc.identifier.esbn978-1-7281-9809-5en
dc.conference.title24th International Conference on System Theory, Control and Computing, ICSTCC 2020, Virtual, Sinaia, 8 October 2020 - 10 October 2020, 165304en


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