By Topic

Dynamic trajectory generation via numerical multi-objective optimisation

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Martin Seyr ; Institute of Mechanics and Mechatronics, Vienna University of Technology. ; Stefan Jakubek

An algorithm for dynamic trajectory generation employing numerical multi-objective optimisation is presented. The crucial innovations are the description of the trajectory through velocity and curvature on the one hand and the restriction of the otherwise infinite function space to a set of basis functions on the other hand. A number of boundary conditions and inequality constraints ensuring the feasibility of the planned trajectory for real vehicles are adhered to. This algorithm is embedded in a rudimentary map-building scheme and an efficient path-planning concept working with incomplete environment information. The performance of the system is demonstrated by application to randomly generated environments.

Published in:

2007 American Control Conference

Date of Conference:

9-13 July 2007