Pseudospectral motion planning techniques for autonomous obstacle avoidance

We consider the problem of generating minimum- time trajectories for autonomous vehicles. Shapes of arbitrary number, size and configuration are modeled in the form of path constraints in the resulting constrained nonlinear optimal control problem. Pseudospectral techniques are used to solve the pro...

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Bibliographic Details
Published in2007 46th IEEE Conference on Decision and Control pp. 5997 - 6002
Main Authors Lewis, L.R., Ross, I.M., Qi Gong
Format Conference Proceeding
LanguageEnglish
Published IEEE 2007
Subjects
Aerospace control
Character generation
Mobile robots
Motion control
Optimal control
Remotely operated vehicles
Robot sensing systems
Trajectory
Uncertainty
USA Councils
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Summary:We consider the problem of generating minimum- time trajectories for autonomous vehicles. Shapes of arbitrary number, size and configuration are modeled in the form of path constraints in the resulting constrained nonlinear optimal control problem. Pseudospectral techniques are used to solve the problem. Solutions are obtained within a few seconds even under a MATLAB environment running on legacy computer hardware. The method is tested under various obstacle environments, and the optimality of the computed trajectories is verified by way of the necessary conditions.
ISBN:9781424414970
1424414970
ISSN:0191-2216
DOI:10.1109/CDC.2007.4434545