This paper presents a method for trajectory generation using convex optimization to find a feasible, obstacle-free path for a road vehicle. Consideration of vehicle rotation is shown to be necessary if the trajectory is to avoid obstacles specified in a fixed Earth axis system. The paper establishes that, despite the presence of significant non-linearities, it is possible to articulate the obstacle avoidance problem in a tractable convex form using multiple optimization passes. Finally, it is shown by simulation that an optimal trajectory that accounts for the vehicle's changing velocity throughout the manoeuvre is superior to a previous analytical method that assumes constant speed.


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    Title :

    Trajectory generation for road vehicle obstacle avoidance using convex optimization


    Contributors:
    Bevan, G P (author) / Gollee, H (author) / O'Reilly, J (author)


    Publication date :

    2010-04-01


    Size :

    19 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




    Trajectory generation for road vehicle obstacle avoidance using convex optimization

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