This paper presents a novel methodology for motion planning. The basic idea is to model vehicle trajectories as chains with adjustable joints and links. The characteristic parameters of these chains are chosen in accordance with the limitations due to driving dynamics. A key feature of the approach is that trajectories can be modified in a fast and intuitive manner, e.g., in order to avoid suddenly emerging obstacles. It is possible to simultaneously generate trajectories of multiple dynamic objects, taking into account interactions and dependencies between the objects. The trajectory chain model is extended by continuous collision detection, which allows collisions along a chain link to be covered with a single collision query. The simple structure of the chain model and the ability to react to dynamic objects offers advantages in applications in which a multitude of trajectories have to be calculated in a dynamic environment. The method was successfully implemented and validated by simulations. Its functionality is shown in collision avoidance scenarios.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Motion Planning With Flexible Trajectory Chains


    Contributors:


    Publication date :

    2018-09-01


    Size :

    607497 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    TRAJECTORY PLANNING WITH FLEXIBLE REPLANNING FUNCTIONALITY - OBSTACLE

    STÖGER ANDREAS / FRAUSCHER THOMAS J / RAMS HUBERT | European Patent Office | 2023

    Free access


    Behavioral trajectory planning for motion planning in urban environments

    Lim, Wonteak / Lee, Seongjin / Jo, Kichun et al. | IEEE | 2017


    Trajectory Planning for Hydraulically Actuated Flexible Loader Crane

    Ebbesen, Morten / Andersen, Torben / Hansen, Michael | AIAA | 2008


    AIAA-2004-5143 Trajectory Interpolation for Parametrized Maneuvering and Flexible Motion Planning of Autonomous Vehicles

    Dever, C. / Mettler, B. / Feron, E. et al. | British Library Conference Proceedings | 2004