# Autonomous Driving Trajectory Optimization With Dual-Loop Iterative Anchoring Path Smoothing and Piecewise-Jerk Speed Optimization

> Research article (IEEE Robotics and Automation Letters, 2020) · cited 75× · AI/ML

**Wikidata**: [openalex:W3116367434](https://www.wikidata.org/wiki/openalex:W3116367434)  
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