Trajectory Optimization for Vehicles in a Constrained Environment

被引：0

作者：

Bayer, Florian ^{[1
]}

Hauser, John ^{[2
]}

机构：

[1] Univ Stuttgart, Inst Syst Theory & Automat Control, D-70550 Stuttgart, Germany

[2] Univ Colorado, Dept Elect Comp & Energy Engn, Boulder, CO 80309 USA

来源：

2012 IEEE 51ST ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC) | 2012年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

An approach for trajectory optimization for vehicles maneuvering in a constrained environment is developed. Within this framework, a benchmark problem, the minimimzation of the transit time of a point mass vehicle through a chicane is proposed. This problem is solved using the projection operator Newton method with barrier functions to manage the acceleration and roadwidth constraints. The numerical solution of the benchmark problem is analyzed in detail as is the characteristics of the solution itself.

引用

页码：5625 / 5630

页数：6

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