Multi-stage trajectory optimization for parking maneuver for an Autonomous Vehicle

  • Deployed a two-stage optimization framework with Particle Swarm Optimization (PSO) and Sequential Quadratic Programming (SQP) in MATLAB
  • PSO output served as the initial guess to SQP
  • Generated simulation results for different scenarios. Improved convergence ability and computational cost 67.6%
GitHub repo
Project report
State Space representation
Multi-stage Optimization Framework and Optimal trajectory for different initial conditions