Optimization-based Safe Trajectory Planning for Autonomous Ground Vehicle in Multi-Floor Scenarios

• URL: http://arxiv.org/abs/2606.24631v1
• Date: Tue, 23 Jun 2026 14:26:22 GMT
• Title: Optimization-based Safe Trajectory Planning for Autonomous Ground Vehicle in Multi-Floor Scenarios
• Abstract summary: This paper introduces a trajectory planning framework tailored for multi-floor scenarios.<n>The framework consists of two main modules: the task planning module and the trajectory planning module.<n>The feasibility and effectiveness of the proposed framework are verified through simulations.
• Score: 29.58874259803892
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: The development of trajectory planning strategies for autonomous ground vehicles (AGVs) represents a prevailing research interest within the domain of intelligent transportation systems. This paper introduces a trajectory planning framework tailored for multi-floor scenarios. The framework consists of two main modules: the task planning module and the trajectory planning module. The task planning module involves a strategic selection phase, where a task planning strategy based on generalized voronoi diagrams (GVD) and multi-objective algorithms is proposed to select the floor exits for each floor. The trajectory planning module utilizes optimization-based methods to generate high-quality trajectories, and a warm-started hierarchical planning framework is designed to ensure rapid convergence. Additionally, for handling complex obstacle constraints, a correlation constraint calculation method is designed for reducing obstacle constraints in trajectory planning. Finally, the feasibility and effectiveness of the proposed framework are verified through simulations.

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