Real-Time Trajectory Planning for Autonomous Driving with Gaussian Process and Incremental Refinement
Jie Cheng,Yingbing Chen,Qingwen Zhang,Lu Gan,Chengju Liu,Ming Liu,Jie Cheng,Yingbing Chen,Qingwen Zhang,Lu Gan,Chengju Liu,Ming Liu
Real-time kinodynamic trajectory planning in dy-namic environments is critical yet challenging for autonomous driving. In this paper, we propose an efficient trajectory plan-ning system for autonomous driving in complex dynamic sce-narios through iterative and incremental path-speed optimization. Exploiting the decoupled structure of the planning prob-lem, a path planner based on Gaussian process ...
