Time-Optimal Trajectory Planning along Parametric Polynomial Lane-Change Curves with Bounded Velocity and Acceleration: Simulations for a Unicycle Based on Numerical Integration

Time-Optimal Trajectory Planning along Parametric Polynomial Lane-Change Curves with Bounded Velocity and Acceleration: Simulations for a Unicycle Based on Numerical Integration

G2 lane-change path imposes symmetric conditions on the path geometric properties. This paper presents the comparative study of time-optimal velocities to minimize the time needed for traversal of three planar symmetric parametric polynomial lane-change paths followed by an autonomous vehicle, assum...

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Bibliographic Details
Main Authors: Chien-Sheng Wu, Zih-Yun Chiu, Jing-Sin Liu
Format: Article
Language:English
Published: Wiley 2018-01-01
Series:Modelling and Simulation in Engineering
Online Access:http://dx.doi.org/10.1155/2018/9348907
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