Title

Comparison Of Optimal Solutions To Real-Time Path Planning For A Mobile Vehicle

Abstract

In this paper, an approach is proposed to determine a real-time collision-free path for a mobile vehicle moving in a dynamically changing environment. A polynomial parametrization is used to solve for feasible trajectories with considering boundary conditions, kinematic constraints, and collision avoidance criteria. Optimization problems with respect to different performance indices are setup to obtain optimal solutions from the feasible trajectories. Among these solutions, one with respect to near-minimal control energy and another with respect to near-shortest distance are analytical and simple. These properties make them good choices for real-time trajectory planning and these two near-optimal methods are convenient to be used in real application. Computer simulations have been conducted on the optimal solutions we have addressed for comparison purpose. And the results verify the advantage of the two near-optimal solutions. Copyright © 2005 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved.

Publication Date

1-1-2005

Publication Title

Collection of Technical Papers - AIAA Guidance, Navigation, and Control Conference

Volume

1

Number of Pages

512-526

Document Type

Article; Proceedings Paper

Personal Identifier

scopus

DOI Link

https://doi.org/10.2514/6.2005-5862

Socpus ID

29744458022 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/29744458022

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