This paper presents a method for trajectory generation using convex optimization to find a feasible, obstacle-free path for a road vehicle. Consideration of vehicle rotation is shown to be necessary if the trajectory is to avoid obstacles specified in a fixed Earth axis system. The paper establishes that, despite the presence of significant non-linearities, it is possible to articulate the obstacle avoidance problem in a tractable convex form using multiple optimization passes. Finally, it is shown by simulation that an optimal trajectory that accounts for the vehicle's changing velocity throughout the manoeuvre is superior to a previous analytical method that assumes constant speed.
Trajectory generation for road vehicle obstacle avoidance using convex optimization
01.04.2010
19 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
Trajectory generation for road vehicle obstacle avoidance using convex optimization
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