FCP converts static obstacles into corridor bounds in Frenet coordinates and minimizes a smoothness and risk objective with a space-domain bicycle model, yielding fast local paths.
Dynamic trajectory planning, path- velocity decomposition and adjacent paths,
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Frenet Corridor Planner: An Optimal Local Path Planning Framework for Autonomous Driving
FCP converts static obstacles into corridor bounds in Frenet coordinates and minimizes a smoothness and risk objective with a space-domain bicycle model, yielding fast local paths.