Abstract

Autonomous vehicles (AVs) are at the heart of academic and industry research because of various advantages such as safety improvement, lower energy and fuel consumption, exploitation of the road network, reduced congestion and greater mobility. Obstacle avoidance, searching the safest path to follow, generation of suitable manoeuver, optimization based most comfortable trajectory along with road boundaries and traffic rules are important concerns in motion planning. The purpose of this paper is to review the existing approaches for trajectory planning in terms of their feasibility, dynamic constraints, handling obstacles, and optimality for comfort.

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