At intersections and in merging traffic, intelligent road vehicles must solve challenging optimal control problems in real-time to navigate reliably around moving obstacles. We present a complete planner that computes collision-free, optimal longitudinal control sequences (acceleration and braking) using a novel visibility graph approach that analytically computes the reachable subset of path-velocity-time space. We demonstrate that our method plans over an order of magnitude faster than previous approaches, making it scalable and fast enough (tenths of a second on a PC) to be called repeatedly on-line. We demonstrate applications to autonomous driving and vehicle collision warning systems with many moving obstacles.
Optimal longitudinal control planning with moving obstacles
01.06.2013
2086809 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
OPTIMAL LONGITUDINAL CONTROL PLANNING WITH MOVING OBSTACLES
British Library Conference Proceedings | 2013
|Planning Motions To Avoid Moving Obstacles
Online Contents | 1995
Kinodynamic motion planning amidst moving obstacles
Tema Archiv | 2000
|Planning Motions To Avoid Moving Obstacles
NTRS | 1995
|Optimal trajectory planning of robot manipulators in the presence of moving obstacles
Online Contents | 2000
|