Title

Trajectory Planning For Ugvs In An Environment With "Hard" And "Soft" Obstacles

Abstract

In this paper, real-time trajectory planning problem is considered for UGVs in a dynamically changing operational environment. Two kinds of obstacles, "hard" obstacles that must be avoided, and "soft" obstacles that can be run over, exist in the environment. The proposed algorithm renders an analytical solution to ensure optimal performance and efficient implementation, and the solution is obtained in four steps: (1) Trajectories that satisfy boundary conditions and vehicle's kinematic model are parameterized in terms of polynomials; (2) Collision-free criteria are developed and applied to find the class of collision-free trajectories that avoid the "hard" obstacles; (3) A L2-norm performance index is introduced to find the best trajectory, analogous to the shortest trajectory, among the class of collision-free trajectories; (4) Impact of avoiding each of "soft" obstacles is measured using a relaxation of the optimal performance index. Accordingly, once the relaxation factor becomes known, "soft" obstacles are prioritized to be either bypassed or overcome, and the final path is obtained analytically. The proposed method provides an automatic and systematic way of handling obstacles. Its solution provides a guarantee of performance. And, simulation results are used to illustrate the proposed algorithm. Copyright © 2006 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved.

Publication Date

1-1-2006

Publication Title

Collection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2006

Volume

2

Number of Pages

893-904

Document Type

Article; Proceedings Paper

Personal Identifier

scopus

DOI Link

https://doi.org/10.2514/6.2006-6105

Socpus ID

33845797545 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/33845797545

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