L2-Norm Optimal Trajectory Planning for Mobile Ground Vehicles in A Dynamically Changing Environment with Both Hard and Soft Obstacles
In this paper, the real-time trajectory planning problem is considered for a differential vehicles in a dynamically changing operational environment. Some obstacles in the environment are not known apriori, they are either static or moving, and classified to two types: hard obstacles that must be avoided, and soft obstacles that can be ran over/through. The proposed method presents trajectories, satisfying boundary conditions and vehicles kinematic model, in terms of polynomials with one design parameter. With a cost function of L2 norm, an optimal feasible trajectory is analytically solved for hard obstacles. By relaxing the optimal solution, soft obstacles are prioritized to be bypassed or overcome. The proposed method offers an automatic and systematic way of handling obstacles.The simulation is used to illustrate the proposed algorithm.
Motion Planning Differential-drive vehicle Collision Avoidance
JianYang Midong
School of Info. Science & Engineering, Central South University, Changsha, Hunan 410083, China
国际会议
合肥
英文
339-342
2011-09-23（万方平台首次上网日期，不代表论文的发表时间）