Autonomous Vehicle Trajectory Planning under Uncertainty using Stochastic Collocation

摘要：

　　We propose a framework based on stochastic collocation to solve autonomous vehicle optimal trajectory planning problems with probabilistic uncertainty.We model uncertainty from the location and size of obstacles.We develop stochastic pseudospectral methods to solve the minimum expectation cost of differential equation,which meets path,control,and boundary constraints.Results are shown on two examples of autonomous vehicle trajectory planning under uncertainty,which illustrated the feasibility and applicability of our method.

关键词： autonomous vehicle trajectory planning uncertainty stochastic collocation

作者: Hongfu Liu Yu Zhang Shaofei Chen Jing Chen

作者单位: College of Mechatronic Engineering and Automation National University of Defense Technology, Changsha, Hunan, PR China

会议类型: 国际会议

会议名称: 2012 International Mechanical Properties and Structural Materials Conference(IMPSMC2012)(2012机械性能与结构材料国际会议)

会议地点: 太原

会议语种:英文

页码: 175-179

在线出版日期: 2012-08-17（万方平台首次上网日期，不代表论文的发表时间）