Citation

Bevan GP, Gollee H, O'Reilly J. Proc. Inst. Mech. Eng. Pt. D J. Automobile Eng. 2010; 224(4): 455-473.

Copyright

(Copyright © 2010, Institution of Mechanical Engineers, Publisher SAGE Publishing)

DOI

10.1243/09544070JAUTO1204

PMID

unavailable

Abstract

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.

Language: en