Graphs of convex sets with Bezier paths and a simplified bicycle model produce trajectories that closely match nonlinear optimal control results but with better speed and initialization robustness in CommonRoad driving scenarios.
Quartic b ´ezier curve based trajectory generation for autonomous vehicles with curvature and velocity constraints
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Motion Planning for Autonomous Vehicles using Optimization over Graphs of Convex Sets
Graphs of convex sets with Bezier paths and a simplified bicycle model produce trajectories that closely match nonlinear optimal control results but with better speed and initialization robustness in CommonRoad driving scenarios.