Challenges of Trajectory Planning with Integrator Models on Curved Roads
| Autor: | Olaf Stursberg, Jan Eilbrecht |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
Mathematical optimization Computer science 020208 electrical & electronic engineering Context (language use) 02 engineering and technology Type (model theory) Network topology Computer Science::Robotics Nonlinear system 020901 industrial engineering & automation Control and Systems Engineering Trajectory planning Integrator Quantifier elimination 0202 electrical engineering electronic engineering information engineering Focus (optics) |
| Zdroj: | IFAC-PapersOnLine. 53:15588-15595 |
| ISSN: | 2405-8963 |
| Popis: | In the context of trajectory planning for autonomous vehicles, a widely used vehicle model relies on linear integrator dynamics. We consider planning with this model type, with a focus on the requirement to account for curved road topologies. As our analysis reveals, this generally gives rise to non-convex, coupled constraints on the vehicle’s states and inputs, which impedes computationally efficient planning. We propose a method to resolve this issue by modification of the non-convex constraints. This modification is based on inner approximations of sub-level sets of nonlinear functions, which are obtained by quantifier elimination. The efficacy of the method is demonstrated in two example scenarios. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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