In order to develop automated driving systems an approach to generate trajectories is of essential importance. The trajectory has to satisfy two fundamental requirements. On the one hand collision free driving of the vehicle has to be ensured and on the other hand the limited driving dynamics has to be complied. The real-time capable trajectory optimization including a complex vehicle dynamics model causes high computational costs. In this contribution the trajectory optimization is based on the kinodynamics of a mass point. The road limits and obstacles are included in the optimization problem by a potential field.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Kinodynamic Trajectory Optimization for Real-Time Vehicle Guidance


    Contributors:

    Conference:

    AmE 2017 – Automotive meets Electronics - 8. GMM-Fachtagung ; 2017 ; Dortmund, Deutschland



    Publication date :

    2017-01-01


    Size :

    6 pages



    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    MK-RRT*: Multi-Robot Kinodynamic RRT* Trajectory Planning

    Cain, Brennan / Kalaitzakis, Michail / Vitzilaios, Nikolaos | IEEE | 2021


    Predictive joint trajectory scaling for manipulators with kinodynamic constraints

    Faroni, Marco / Guarino Lo Bianco, Corrado / Beschi, Manuel et al. | BASE | 2019

    Free access

    Kinodynamic Motion Planning Using Multi-Objective optimization

    Hart, Patrick / Knoll, Alois | IEEE | 2018