👀 About me: https://zhouhengli.github.io/
I am currently a 3rd year Ph.D. student in the College of Control Science and Engineering at Zhejiang University, Hangzhou, China, under the supervision of Prof. Lei Xie and Prof. Hongye Su. Before joining Zhejiang University, I interned at Hikvision Research Institute in Hangzhou, where I applied optimization methods for robot motion planning and implemented the corresponding ROS components using Python and C++. Prior to that, I earned my bachelor's degree from ZJGSU.✨ Enjoyments of life: 🎲 Board Games (Splendor, Seven Wonders: Duel, etc), 👣 hiking, 🎾 tennis, 🏓 ping-pong, 🗺️ traveling.
My ultimate goal is to develop embodied intelligent vehicles capable of seamlessly interacting with the physical world. (📝 Publications). To achieve this, my research focuses on decision-making methods powered by generative models and optimization-based trajectory planning methods designed for safety. Currently, I am exploring planning approaches for both single and multi-vehicle systems in autonomous racing and drifting, with a focus on the following key areas:
⭐ Integrated Trajectory Planning and Control: Aggressive vehicle motion is guaranteed by optimizing the velocity distribution within the MPC prediction horizon when planning racing trajectories.
⭐ Safe Decision-Making and planning Using Generative Models: Using energy-based models (EBMs) for decision-making, while ensuring safety through model-based planning methods.
⭐ Learning-Based Parameter Tuning for Motion Planners: Leveraging post-race autonomous data to optimize planner performance and push the limits of racing capability.
I am also actively involved in applying these techniques to F1TENTH competition. Feel free to drop me emails (📨 [email protected]) if you are interested in the topics mentioned above, I would be happy to discuss further collaborations.
- [Nov. 2024] 🔥🔥🔥 We have released the CiMPCC, a local trajectory planner for autonomous racing.
- [Oct. 2024] 🔥🔥🔥 Our research on overtaking trajectory planning framework using spatio-temporal topology and reachable set analysis is now available.
- [Oct. 2024] 🔥🔥🔥 Our research on data-driven aggressive autonomous racing framework using velocity prediction MPCC and bayesian optimization is now available.
- [Sep. 2024] 🎉🎉🎉 Our paper about rapid and safe trajectory planning for automated parking using path-velocity decomposition is accepted by the Journal Robotics and Autonomous Systems.
- [Jul. 2024] 🎉🎉🎉 Our paper about Curvature-Integrated MPCC for autonomous racing is accepted by ITSC 2024.
- [Mar. 2024] 🎉🎉🎉 Our paper about aggressive drifting for minimum time cornering based on MPC is accepted by IV 2024.
- 4th place in 18TH F1TENTH autonomous grand prix by IV 2024
2024 IEEE Intelligent Vehicles Symposium (IV 2024), June 3rd - 5th 2024, Jeju Shinhwa World, Jeju Island, Korea
Zhouheng Li, Cheng Hu, Bei Zhou, Yonghao Fu, Guoqiang Wu, Yangyang Xie