Comparison of Optimal Solutions to Real-Time Path Planning for a Mobile Vehicle

    Authors

    J. A. Yang; Z. H. Qu; J. Wang;K. Conrad

    Comments

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    Abbreviated Journal Title

    IEEE Trans. Syst. Man Cybern. Paart A-Syst. Hum.

    Keywords

    Mobile vehicle; moving obstacles; nonholonomic constraints; optimal; solution; real-time path planning; OBSTACLE AVOIDANCE; Computer Science, Cybernetics; Computer Science, Theory & Methods

    Abstract

    In this paper, we present two near-optimal methods to determine the real-time collision-free path for a mobile vehicle moving in a dynamically changing environment. The proposed designs are based on the polynomial parameterization of feasible trajectories by explicitly taking into account boundary conditions, kinematic constraints, and collision-avoidance criteria. The problems of finding optimal solutions to the parameterized feasible trajectories are then formulated with respect to a near-minimal control-energy performance index and a near-shortest distance performance index, respectively. The obtained optimal solutions are analytical and suitable for practical applications which may require real-time trajectory planning and replanning. Computer simulations are provided to validate the effectiveness of the proposed near-optimal trajectory-planning methods.

    Journal Title

    Ieee Transactions on Systems Man and Cybernetics Part a-Systems and Humans

    Volume

    40

    Issue/Number

    4

    Publication Date

    1-1-2010

    Document Type

    Article

    Language

    English

    First Page

    721

    Last Page

    731

    WOS Identifier

    WOS:000278814100007

    ISSN

    1083-4427

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