In this paper, a general formulation of a predictive and multirate (MR) reactive planning method for intelligent vehicles (IVs) is introduced. The method handles path planning and trajectory planning for IVs in dynamic environments with uncertainty, in which the kinodynamic vehicle constraints are also taken into account. It is based on the potential field projection method (PFP), which combines the classical potential field (PF) method with the MR Kalman filter estimation. PFP takes into account the future object trajectories and their associated uncertainties, which makes it different from other look-ahead approaches. Here, a new PF is included in the Lagrange–Euler formulation in a natural way, accounting for the vehicle dynamics. The resulting accelerations are translated into control inputs that are considered in the estimation process. This leads to the generation of a local trajectory in real time (RT) that fully meets the constraints imposed by the kinematic and dynamic models of the IV. The properties of the method are demonstrated by simulation with MATLAB and C++ applications. Very good performance and execution times are achieved, even in challenging situations. In a scenario with 100 obstacles, a local trajectory is obtained in less than 1 s, which is suitable for RT applications.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Predictive and Multirate Sensor-Based Planning Under Uncertainty


    Contributors:


    Publication date :

    2015-06-01


    Size :

    1539917 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




    Multivariable Generalized Predictive Control with Multirate Sampling Model

    Ogata, K. / Fujii, S. / Hayakawa, Y. | British Library Online Contents | 1993


    Multirate Estimation

    Hong, L. / IEEE; Dayton Section / IEEE; Aerospace and Electronics Systems Society | British Library Conference Proceedings | 1994



    Multirate Obstacle Tracking and Path Planning for Intelligent Vehicles

    Mora, Marta C. / Piza, Ricardo / Tornero, Josep | IEEE | 2007