Set-based trajectory planning for a car-like vehicle
V. Nardi · 2024
This paper addresses the problem of feasible trajectory planning for an autonomous car-like vehicle. The proposed algorithm explicitly considers the closed-loop dynamics of the vehicle, implementation constraints and disturbance effects due to tyre-ground interaction. The trajectories are constructed incrementally as a sequence of connected segments. The feasibility of the trajectories is verified using a set-based approach. Finally, the effectiveness of the proposed approach is demonstrated by numerical simulations in two scenarios of interest for autonomous driving: self-parking and overtaking a slower vehicle, in which the algorithm proves to be able to find trajectories which can be tracked without violating constraints even in presence of different conditions of both the road and the vehicle.