A Research on Single-Vehicle Trajectory Planning Algorithm in MultiObstacle Environments

Abstract

This work aims to investigate the optimal trajectory planning for single-vehicle scenarios in obstacle-filled environments. The first section of the paper provides background information and an overview of autonomous driving trajectory planning, emphasizing its crucial role in ensuring safety and efficiency. A review of previous literature shows a range of approaches and constraints for trajectory optimization, especially in complicated and dynamic situations. Then, the single-vehicle trajectory planning optimum control problem (OCP) is stated and, in order to solve it practically, it is transformed into a nonlinear programming (NLP) issue. A classification of numerical solution methods is presented, including direct and indirect approaches. Extensive trials conducted with different initial and terminal circumstances and with single and multiple obstacles have demonstrated that the model can reliably produce the desired outcomes. As a result, the study demonstrates the robustness and efficiency of the proposed algorithm.