J Shanghai Jiaotong Univ Sci ›› 2021, Vol. 26 ›› Issue (5): 731-738.doi: 10.1007/s12204-021-2363-8
• Intelligent Connected Vehicle • Previous Articles Next Articles
WANG Liang (王 亮), WANG Bing (王 冰), WANG Chunxiang∗ (王春香)
Received:
2020-12-22
Online:
2021-10-26
Published:
2021-10-28
CLC Number:
WANG Liang (王 亮), WANG Bing (王 冰), WANG Chunxiang∗ (王春香). Collision-Free Path Planning with Kinematic Constraints in Urban Scenarios[J]. J Shanghai Jiaotong Univ Sci, 2021, 26(5): 731-738.
[1] | THRUN S, MONTEMERLO M, DAHLKAMP H, et al. Stanley: The robot that won the DAPPA grand challenge [J]. Journal of ?eld Robotics, 2006, 23(9): |
66 | 1- 692. |
[2] | MENGY,WUYM,GUQ,etal. Adecoupledtra-jectory planning framework based on the integration of lattice searching and convex optimization [J]. IEEE Access, 2019, 7: 130530-130551. [3] ZIEGLER J, STILLER C. Spatiotemporal state lat-tices for fast trajectory planning in dynamic on-road driving scenarios [C]//2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.St. Louis, MO: IEEE, 2009: 1879-1884. |
[4] | MCNAUGHTONM,URMSONC,DOLANJM,et al. Motion planning for autonomous driving with a conformal spatiotemporal lattice [C]//2011 IEEE In-ternational Conference on Robotics and Automation. Shanghai: IEEE, 2011: 4889-4895. |
[5] | FAN H Y, ZHU F, LIU C C, et al. Baidu Apollo EM motion planner [EB/OL]. [2020-12-22]. https://arxiv.org/pdf/1807.080 48v1.pdf. |
[6] | WERLING M, ZIEGLER J, KAMMEL S, et al. Opti-mal trajectory generation for dynamic street scenarios in a Fren′et Frame [C]//2010 IEEE International Con-ference on Robotics and Automation. Anchorage, AK: IEEE, 2010: 987-993. |
[7] | XU W D, WEI J Q, DOLAN J M, et al. A real-time motion planner with trajectory optimization for au-tonomous vehicles [C]//2012 IEEE International Con-ference on Robotics and Automation.SaintPaul,MN: IEEE, 2012: 2061-2067. |
[8] | GUT,SNIDERJ,DOLANJM,etal. Focused trajectory planning for autonomous on-road driving [C]//2013 IEEE Intelligent Vehicles Symposium (IV ). Gold Coast, QLD: IEEE, 2013: 547-552. |
[9] | GUTJAHR B, GR ¨OLL L, WERLING M. Lateral ve-hicle trajectory optimization using constrained linear time-varying MPC [J]. IEEE Transactions on Intelli-gent Transportation Systems, 2017, 18(6): 1586-1595. |
[10] | ZIEGLER J, BENDER P, DANG T, et al. Trajec-tory planning for Bertha: A local, continuous method [C]//2014 IEEE Intelligent Vehicles Symposium Pro-ceedings. Dearborn, MI: IEEE, 2014: 450-457. |
[11] | WANG Q, SU K F, CAO D P. Path planning for on-road autonomous driving with concentrated itera-tive search [C]//2019 IEEE Intelligent Transportation Systems Conference (ITSC ). Auckland: IEEE, 2019: 2722-2727. |
[12] | ZHANG Y J, SUN H Y, ZHOU J Y, et al. Optimal vehicle path planning using quadratic optimization for Baidu Apollo open platform [C]//2020 IEEE Intelli-gent Vehicles Symposium (IV ). Las Vegas, NV: IEEE, 2020: 978-984. |
[13] | STELLATO B, BANJAC G, GOULART P, et al. OSQP: An operator splitting solver for quadratic pro-grams [C]//2018 UKACC 12th International Confer-ence on Control. She?eld: IEEE, 2018: 339. |
[1] | FANG Haolin (房浩霖), ZHANG Jiawen (张家闻), LI Jiawang∗ (李家旺). Switched Three-Dimensional Decoupling Stabilization of Underactuated Autonomous Underwater Vehicles [J]. J Shanghai Jiaotong Univ Sci, 2022, 27(3): 383-392. |
[2] | XU Ziwei (徐子薇), XIE Le* (谢叻). Cable-Driven Flexible Exoskeleton Robot for Abnormal Gait Rehabilitation [J]. J Shanghai Jiaotong Univ Sci, 2022, 27(2): 231-239. |
[3] | WANG Zheng (王正), XU Hui (许辉), L v Na (吕娜), TAO Wei∗ (陶卫), CHEN Guodong (陈国栋), CHI Wenzheng (迟文正), SUN Lining (孙立宁). Dynamic Obstacle Avoidance for Application of Human-Robot Cooperative Dispensing Medicines [J]. J Shanghai Jiaotong Univ Sci, 2022, 27(1): 24-35. |
[4] | YAN Minpeng (严旻芃), CHAI Gang ∗ (柴岗), XIE Le ∗ (谢叻). Depth Camera-Based Robot-Assisted Ultrasonic Lipolysis System [J]. J Shanghai Jiaotong Univ Sci, 2022, 27(1): 36-44. |
[5] | LI Dong (李栋), FAN Yulin (樊钰琳), L v Na (吕娜), CHEN Guodong∗ (陈国栋), WANG Zheng (王正), CHI Wenzheng (迟文政). Safety Protection Method of Rehabilitation Robot Based on fNIRS and RGB-D Information Fusion [J]. J Shanghai Jiaotong Univ Sci, 2022, 27(1): 45-54. |
[6] | DAI Qianlin (代倩琳), XU Mengqiao (徐梦乔), SUN Xiaodong (孙晓东), XIE Le∗ (谢叻). Eye Robotic System for Vitreoretinal Surgery [J]. J Shanghai Jiaotong Univ Sci, 2022, 27(1): 1-6. |
[7] | CHEN Ziyun (陈子云), XIE Le (谢叻), DAI Peidong (戴培东), ZHANG Tianyu (张天宇). Development of a Robotic Cochlear Implantation System [J]. J Shanghai Jiaotong Univ Sci, 2022, 27(1): 7-14. |
[8] | HU Bo (胡博), LIN Yanping∗ (林艳萍), CHEN Shihang (陈士行), WANG Fang (汪方), MA Xiaojun (马小军), CAO Qixin (曹其新). Teleoperated Puncture Robot System: Preliminary Design and Workspace Analysis [J]. J Shanghai Jiaotong Univ Sci, 2022, 27(1): 15-23. |
[9] | ZHUANG Hanyang (庄瀚洋), ZHOU Xuejun (周学军), WANG Chunxiang (王春香), QIAN Yuhan (钱宇晗). Wavelet Transform-Based High-Definition Map Construction From a Panoramic Camera [J]. J Shanghai Jiaotong Univ Sci, 2021, 26(5): 569-576. |
[10] | SHI Qiang (师 强), ZHANG Jianlin (张建林), YANG Ming∗ (杨 明). Curvature Adaptive Control Based Path Following for Automatic Driving Vehicles in Private Area [J]. J Shanghai Jiaotong Univ Sci, 2021, 26(5): 690-698. |
[11] | SHEN Qiyue (沈琦越), WANG Bing (王 冰), WANG Chunxiang∗ (王春香). Real-Time Trajectory Planning for On-road Autonomous Tractor-Trailer Vehicles [J]. J Shanghai Jiaotong Univ Sci, 2021, 26(5): 722-730. |
[12] | ZHANG Jianlin (张建林), ZHOU Xuejun (周学军), YANG Ming (杨 明). Iterative-Reweighting-Based Robust Iterative-Closest-Point Method [J]. J Shanghai Jiaotong Univ Sci, 2021, 26(5): 739-746. |
[13] | ZHENG Dongdong, LI Pengcheng, XIE Wenfang, LI Dan . Identification and Control of Flexible Joint Robot Using Multi-Time-Scale Neural Network [J]. Journal of Shanghai Jiao Tong University(Science), 2020, 25(5): 553-560. |
[14] | XIANG Jiawei, ZHANG Jinyi, WANG Bin, MA Yongbin . Low Data Overlap Rate Graph-Based SLAM with Distributed Submap Strategy [J]. Journal of Shanghai Jiao Tong University(Science), 2020, 25(5): 650-658. |
[15] | HUANG Hantao, ZHOU Jingye, DI Qing, ZHOU Jiawei , LI Jiawang . Three-Dimensional Trajectory Tracking Control of Underactuated Autonomous Underwater Vehicles with Input Saturation [J]. Journal of Shanghai Jiao Tong University(Science), 2020, 25(4): 470-477. |
Viewed | ||||||
Full text |
|
|||||
Abstract |
|
|||||