@article{ref1,
title="Trajectory Generation for Road Vehicle Obstacle Avoidance Using Convex Optimization",
journal="Proceedings of the Institution of Mechanical Engineers, Part D: Journal of automobile engineering",
year="2010",
author="Bevan, G. P. and Gollee, H. and O'Reilly, J.",
volume="224",
number="4",
pages="455-473",
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.<p /><p>Language: en</p>",
language="en",
issn="0954-4070",
doi="10.1243/09544070JAUTO1204",
url="http://dx.doi.org/10.1243/09544070JAUTO1204"
}