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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Bibliographic Details
Published in:	Proceedings of the Institution of Mechanical Engineers. Part D, Journal of automobile engineering Vol. 224; no. 4; pp. 455 - 473
Main Authors:	Bevan, G P, Gollee, H, O'Reilly, J
Format:	Journal Article
Language:	English
Published:	London, England SAGE Publications 01.04.2010 Sage Publications SAGE PUBLICATIONS, INC
Subjects:	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
Online Access:	Get full text
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