Path Planning and Tracking for Vehicle Collision Avoidance in Lateral and Longitudinal Motion Directions

Planning the Optimal 3D Quadcopter Trajectory Using a Delivery System-Based Hybrid Algorithm

“…The predicted trajectory is defined as a collection of position coordinates as functions of time. A smooth path can be described using a cubic polynomial with independent coefficients [5]. The initial and final time instants, 𝑡 𝑖 and 𝑡 𝑓 , as well as the conditions for location and velocity at 𝑡 𝑖 and 𝑡 𝑓 , are used to describe the motion [5,12,23].…”

“…A smooth path can be described using a cubic polynomial with independent coefficients [5]. The initial and final time instants, 𝑡 𝑖 and 𝑡 𝑓 , as well as the conditions for location and velocity at 𝑡 𝑖 and 𝑡 𝑓 , are used to describe the motion [5,12,23]. In a 3D coordinate space, every point in the environment may be represented as an (x, y, z) coordinate.…”

“…An algebraic cubic polynomial is used to define the trajectory between two points. They are represented as follows: [5,12,23] 𝑥(𝑡) = 𝑎 0 + 𝑎 1 𝑡 + 𝑎 2 𝑡 2 + 𝑎 3 𝑡 3 (1)…”

“…One of the primary aspects of the robot's transition from one location to another is to generate a path plan from the starting point to the target point and avoid collisions with obstacles [1][2][3][4]. The global path planner is one vehicle path planning system type, it uses a priori information from the road map to generate the optimal possible path from the starting point to the destination point [5][6][7][8].…”