ONLINE BIDIRECTIONAL TRAJECTORY PLANNING METHOD IN STATE-TIME SPACE, RECORDING MEDIUM STORING PROGRAM FOR EXECUTING SAME, AND COMPUTER PROGRAM STORED IN RECORDING MEDIUM FOR EXECUTING SAME

摘要

The present invention relates to an online bidirectional trajectory planning method in a state-time space, a recording medium storing a program for employing the same, and a computer program stored in a medium for employing the same. More particularly, the present invention relates to an online bidirectional trajectory planning method in a state-time space, a recording medium storing a program for employing the same, and a computer program stored in a medium for employing the same, wherein autonomous driving is available while over-run or vibration does not occur in a robot by planning a bidirectional trajectory using a forward trajectory and a backward trajectory.