Date of Award
Doctor of Philosophy (PhD)
Electrical and Computer Engineering
Trajectory planning is an important component of autonomous driving. It takes the result of route-level navigation plan and generates the motion-level commands that steer an autonomous passenger vehicle (APV). Prior work on solving this problem uses either a sampling-based or optimization-based trajectory planner, accompanied by some high-level rule generation components.
Gu, Tianyu, "Improved Trajectory Planning for On-Road Self-Driving Vehicles Via Combined Graph Search, Optimization & Topology Analysis" (2017). Dissertations. 794.