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.
|Number of pages||19|
|Journal||Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering|
|Publication status||Published - 1 Apr 2010|
- convex optimization
- road vehicle obstacle avoidance