Title :
Trajectory planning for Bertha — A local, continuous method
Author :
Ziegler, Jens ; Bender, P. ; Thao Dang ; Stiller, Christoph
Author_Institution :
Dept. on Mobile Perception Syst., FZI Res. Center for Inf. Technol., Karlsruhe, Germany
Abstract :
In this paper, we present the strategy for trajectory planning that was used on-board the vehicle that completed the 103 km of the Bertha-Benz-Memorial-Route fully autonomously. We suggest a local, continuous method that is derived from a variational formulation. The solution trajectory is the constrained extremum of an objective function that is designed to express dynamic feasibility and comfort. Static and dynamic obstacle constraints are incorporated in the form of polygons. The constraints are carefully designed to ensure that the solution converges to a single, global optimum.
Keywords :
automobiles; continuous systems; mobile robots; optimal control; optimisation; path planning; trajectory control; variational techniques; Bertha-Benz-Memorial-Route; constrained extremum; convergence; dynamic feasibility; dynamic obstacle constraints; fully autonomous vehicle; local continuous method; objective function; polygons; single global optimum; static obstacle constraints; trajectory planning; variational formulation; Linear programming; Optimization; Planning; Trajectory; Vectors; Vehicle dynamics; Vehicles;
Conference_Titel :
Intelligent Vehicles Symposium Proceedings, 2014 IEEE
Conference_Location :
Dearborn, MI
DOI :
10.1109/IVS.2014.6856581
