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

Jian Yang; Mi Dong

doi:10.4028/www.scientific.net/AMM.130-134.339

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 130-134L2-Norm Optimal Trajectory Planning for Mobile...

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.

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Periodical:

Applied Mechanics and Materials (Volumes 130-134)

Pages:

339-342

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.130-134.339

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Online since:

October 2011

Authors:

Jian Yang, Mi Dong

Keywords:

Collision Avoidance, Differential-Drive Vehicle, Motion Planning

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