PhD Thesis: AUTONOMOUS DRIVING: PATH PLANNING BASED ON MULTI-CRITERIA OPTIMIZATION
Keywords: autonomous driving, optimization, path planning, constrained control, trajectory planning
Description: The thesis aims to build a reliable and safe (collision-free) characterization of the environment where the vehicle can move without hindrance. To do this, convexification techniques will be favored to obtain a generic and robust mathematical framework from a computational point of view. The main research effort will be oriented towards these techniques of convexification of the maneuvering space in the presence of moving obstacles in order to define safety corridors or further tubes of feasible trajectories that the vehicle is able to follow.
