Safe Planning for Self-Driving Via Adaptive Constrained ILQR
Yanjun Pan,Qin Lin,Het Shah,John M. Dolan,Yanjun Pan,Qin Lin,Het Shah,John M. Dolan
Constrained Iterative Linear Quadratic Regulator (CILQR), a variant of ILQR, has been recently proposed for motion planning problems of autonomous vehicles to deal with constraints such as obstacle avoidance and reference tracking. However, the previous work considers either deterministic trajectories or persistent prediction for target dynamical obstacles. The other drawback is lack of generality...
