ONLINE BIDIRECTIONAL TRAJECTORY PLANNING METHOD IN STATE-TIME SPACE AND RECORDING MEDIUM STORING PROGRAM FOR EXECUTING THE SAME AND COMPUTER PROGRAM STORED IN RECORDING MEDIUM FOR EXECUTING THE 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 implementing the same, and a computer program stored in the recording medium for implementing the method and, more specifically, to an online bidirectional trajectory planning method in a state-time space capable of autonomous driving without the generation of overrun or vibration of a robot by planning a bidirectional path using a forward path and reverse path.