Paper Title:
L2-Norm Optimal Trajectory Planning for Mobile Ground Vehicles in a Dynamically Changing Environment with both “Hard” and “Soft” Obstacles
  Abstract

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 run over/through. The proposed method presents trajectories, satisfying boundary conditions and vehicle’s 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.

  Info
Periodical
Edited by
Han Zhao
Pages
339-342
DOI
10.4028/www.scientific.net/AMM.130-134.339
Citation
J. Yang, M. Dong, "L2-Norm Optimal Trajectory Planning for Mobile Ground Vehicles in a Dynamically Changing Environment with both “Hard” and “Soft” Obstacles", Applied Mechanics and Materials, Vols. 130-134, pp. 339-342, 2012
Online since
October 2011
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