Dynamic motion planning of autonomous vehicles
作者： Z. Shiller , Y.-R. Gwo
DOI: 10.1109/70.75906
关键词: Terrain 、 B-spline 、 Kinematics 、 Vehicle dynamics 、 Path (graph theory) 、 Computer science 、 Mobile robot 、 Computer vision 、 Control theory 、 Artificial intelligence 、 Trajectory
摘要: A method for planning the motions of autonomous vehicles moving on general terrains is presented that obtains geometric path and vehicle speeds minimize motion time considering dynamics, terrain topography, obstacles, surface mobility. The represented by a smooth cubic B patch, consists spline curve mapped to surface. time-optimal are computed first obtaining best obstacle-free from all paths uniform grid. This further optimized using local optimization procedure, optimal along as cost function control points optimizing parameters. Examples demonstrate simple dynamic model mountainous terrain. >
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