Trajectory generation for road vehicle obstacle avoidance using convex optimization

Abstract This paper presents a method for trajectory generation using convex optimization to find a feasible, obstacle-free path for a road vehicle. Consideration of vehicle rotation is shown to be necessary if the trajectory is to avoid obstacles specified in a fixed Earth axis system. The paper es...

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Vydáno v:Proceedings of the Institution of Mechanical Engineers. Part D, Journal of automobile engineering Ročník 224; číslo 4; s. 455 - 473
Hlavní autoři: Bevan, G P, Gollee, H, O'Reilly, J
Médium: Journal Article
Jazyk:angličtina
Vydáno: London, England SAGE Publications 01.04.2010
Sage Publications
SAGE PUBLICATIONS, INC
Témata:
Applied sciences
Automobiles
Automotive components
Automotive engineering
Control systems
Convex analysis
Convexity
Earth axis
Exact sciences and technology
Feasibility
Ground, air and sea transportation, marine construction
Mathematical analysis
Mechanical engineering
Mechanical engineering. Machine design
Nonlinearity
Obstacle avoidance
Optimization
Road transportation and traffic
Roads
Simulation
Trajectories
Vehicles
Velocity
lane change
obstacle avoidance
convex optimization
trajectory generation
Motor car
Obstacle
Road vehicle
Vehicle driving
Modeling
Convex programming
Lane change
Variational inequality
Optimal trajectory
Unilateral
Non linear effect
Collision avoidance
ISSN:0954-4070, 2041-2991
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Shrnutí:Abstract This paper presents a method for trajectory generation using convex optimization to find a feasible, obstacle-free path for a road vehicle. Consideration of vehicle rotation is shown to be necessary if the trajectory is to avoid obstacles specified in a fixed Earth axis system. The paper establishes that, despite the presence of significant non-linearities, it is possible to articulate the obstacle avoidance problem in a tractable convex form using multiple optimization passes. Finally, it is shown by simulation that an optimal trajectory that accounts for the vehicle's changing velocity throughout the manoeuvre is superior to a previous analytical method that assumes constant speed.
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ISSN:0954-4070
2041-2991
DOI:10.1243/09544070JAUTO1204