Optimal Geometrical Planning of Autonomous Vehicle Trajectory

Trajectory planning is a major challenge in robotics and autonomous vehicles, ensuring both efficient and safe navigation. The primary objective of this work is to generate an optimal trajectory connecting a starting point to a destination while meeting specific requirements, such as minimizing travel distance and adhering to the vehicle’s kinematic and dynamic constraints. The developed algorithms for trajectory design, defined as a sequence of arcs and straight segments, offer a significant advantage due to their low computational complexity, making them well-suited for real-time applications in autonomous navigation. The proposed trajectory model serves as a benchmark for comparing actual vehicle paths in trajectory control studies. Simulation results demonstrate the robustness of the proposed method across various scenarios.