Abstract
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.
Original language | English |
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Pages (from-to) | 455-473 |
Number of pages | 19 |
Journal | Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering |
Volume | 224 |
Issue number | 4 |
DOIs | |
Publication status | Published - 1 Apr 2010 |
Keywords
- convex optimization
- road vehicle obstacle avoidance