Trajectory generation for differentially flat systems via NURBS basis functions with obstacle avoidance

We present a locally optimal real-time trajectory generation approach that judiciously exploits the properties of differential flat systems and non-uniform rational B-spline basis functions to transform an optimal control problem into a simpler, more favorable numerical computational form. This is accomplished by effectively removing the dynamic and trajectory constraints from the original optimal control problem without sacrificing generality. Moreover, this approach may be combined with a global path planning technique, which typically assumes simplified system dynamics, to determine optimized vehicle trajectories.