Motion Planning for Autonomous Driving in Unsignalized Intersections Using Combined Multi-Modal GNN Predictor and MPC Planner

This article presents an interaction-aware motion planning framework that integrates a graph neural network (GNN) based multi-modal trajectory predictor with a model predictive control (MPC) based planner. Unlike past studies that predict a single future trajectory per agent, our algorithm outputs t...

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Detalhes bibliográficos
Main Authors: Ajitesh Gautam, Yuping He, Xianke Lin
Formato: Artigo
Idioma:Inglês
Publicado em: MDPI AG 2025-08-01
Colecção:Machines
Assuntos:
multi-modal trajectory prediction
graph neural network
model predictive control
motion planning
intersection safety
Acesso em linha:https://www.mdpi.com/2075-1702/13/9/760
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