Fast and Optimal Trajectory Planning for Multiple Vehicles in a Nonconvex and Cluttered Environment: Benchmarks, Methodology, and Experiments
Yakun Ouyang,Bai Li,Youmin Zhang,Tankut Acarman,Yuqing Guo,Tantan Zhang,Yakun Ouyang,Bai Li,Youmin Zhang,Tankut Acarman,Yuqing Guo,Tantan Zhang
This paper is focused on the cooperative trajectory planning problem for multiple car-like robots in a cluttered and unstructured environment narrowed by static obstacles. The concerned multi-vehicle trajectory planning (MVTP) problem is challenging because i) the scenario is nonconvex and tiny; ii) the vehicle kinematics is nonconvex; and iii) a feasible homotopy class is unavailable a priori. We...
