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

Socpus ID

77953703574 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/77953703574

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