Work

A Real-Time Spatio-Temporal Trajectory Planner for Autonomous Vehicles With Semantic Graph Optimization

Year: 2024

Type: article

Abstract: Planning a safe and feasible trajectory for autonomous vehicles in real-time by fully utilizing perceptual information in complex urban environments is challenging. In this letter, we propose a spatio-temporal trajectory planning method based on graph optimization. It efficiently extracts the multi-modal information of the perception module by constructing a semantic spatio-temporal map through separation processing of static and dynamic obstacles, and then quickly generates feasible trajectories via sparse graph optimization based on a semantic spatio-temporal hypergraph. Extensive experiments have proven that the proposed method can effectively handle complex urban public road scenarios and perform in real time. We will also release our codes to accommodate benchmarking for the research community.

Source: IEEE Robotics and Automation Letters

DOI: 10.1109/lra.2024.3504239

Authors: Shan He, Yalong Ma, Tao Song, Yongzhi Jiang, Xinkai Wu

Institution: Beihang University

Language: English

Topic: Robotic Path Planning Algorithms

Subfield: Computer Vision and Pattern Recognition

Field: Computer Science

Domain: Physical Sciences

SDGs: Sustainable cities and communities, Industry, innovation and infrastructure

Open Access status: green

Funder: National Natural Science Foundation of China