Title
Comparison Of Optimal Solutions To Real-Time Path Planning For A Mobile Vehicle
Keywords
Mobile vehicle; moving obstacles; nonholonomic constraints; optimal solution; real-time path planning
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. © 2010 IEEE.
Publication Date
7-1-2010
Publication Title
IEEE Transactions on Systems, Man, and Cybernetics Part A:Systems and Humans
Volume
40
Issue
4
Number of Pages
721-731
Document Type
Article; Proceedings Paper
Personal Identifier
scopus
DOI Link
https://doi.org/10.1109/TSMCA.2010.2044038
Copyright Status
Unknown
Socpus ID
77953703574 (Scopus)
Source API URL
https://api.elsevier.com/content/abstract/scopus_id/77953703574
STARS Citation
Yang, Jian; Qu, Zhihua; Wang, Jing; and Conrad, Kevin, "Comparison Of Optimal Solutions To Real-Time Path Planning For A Mobile Vehicle" (2010). Scopus Export 2010-2014. 1078.
https://stars.library.ucf.edu/scopus2010/1078