Time-Optimal Trajectory Planning along Parametric Polynomial Lane-Change Curves with Bounded Velocity and Acceleration: Simulations for a Unicycle Based on Numerical Integration

<div>Scenario 2: from (0, 0) to (1, 1). (a) Travel paths and (b) their continuously differentiable curvature of the three faster lane-change curves chosen among candidate lane-change curves from Figure <a href="../fig7/">7</a>. There are two curvature maxima located symmetrically to the midpoint.</div>

Modelling and Simulation in Engineering

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Figure 9

Figure 9: Time-Optimal Trajectory Planning along Parametric Polynomial Lane-Change Curves with Bounded Velocity and Acceleration: Simulations for a Unicycle Based on Numerical Integration 

Figure 9 | Time-Optimal Trajectory Planning along Parametric Polynomial Lane-Change Curves with Bounded Velocity and Acceleration: Simulations for a Unicycle Based on Numerical Integration 