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.
Kinodynamic Trajectory Optimization for Real-Time Vehicle Guidance
AmE 2017 – Automotive meets Electronics - 8. GMM-Fachtagung ; 2017 ; Dortmund, Deutschland
2017-01-01
6 pages
Conference paper
Electronic Resource
English
Predictive joint trajectory scaling for manipulators with kinodynamic constraints
BASE | 2019
|Kinodynamic Trajectory Optimization of Dual-Arm Space Robot for Stabilizing a Tumbling Target
DOAJ | 2022
|