arxivcs.RO2026-07-05
Integrated Graph Search and Model Predictive Control for Smooth and Efficient Path Planning in Autonomous Vehicles
Duc-Tien Bui, Ngoc Thinh Nguyen, Hung Duy Nguyen, Dong Bi, Tomislav Mihalj, Arno Eichberger
Path planning is a fundamental component of autonomous vehicles, where achieving safe, comfortable, and dynamically feasible paths while ensuring computational efficiency remains a significant challenge. This paper presents a sequential path planning framework in which a rough pa…