Speed Planning in Dynamic Environments over a Fixed Path for Autonomous Vehicles
Wenda Xu,John M. Dolan,Wenda Xu,John M. Dolan
In this paper, we present a novel convex optimization approach to address the minimum-time speed planning problem over a fixed path with dynamic obstacle constraints and point-wise speed and acceleration constraints. The contributions of this paper are three-fold. First, we formulate the speed planning as an iterative convex optimization problem based on space discretization. Our formulation allow...
