Trajectory generation for road vehicle obstacle avoidance using convex optimization

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Original languageEnglish
Pages (from-to)455-473
Number of pages19
JournalProceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering
Issue number4
StatePublished - 1 Apr 2010


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.


  • convex optimization, road vehicle obstacle avoidance