Title :
Flat trajectory generation for way-points relaxations and obstacle avoidance
Author :
Stoican, Florin ; Prodan, Ionela ; Popescu, Dan
Author_Institution :
Dept. of Autom., Control & Syst. Eng., Politeh. Univ. of Bucharest, Bucharest, Romania
Abstract :
This paper addresses some alternatives to classical trajectory generation for an autonomous vehicle which needs to pass through a priori given way-points. Using differential flatness for trajectory generation and B-splines for the flat output parametrization, the current study concentrates on constraint relaxations and on obstacle avoidance conditions. The results are validated through simulations over standard UAV dynamics.
Keywords :
artificial intelligence; autonomous aerial vehicles; collision avoidance; mobile robots; trajectory control; B-splines; autonomous vehicle; flat output parametrization; flat trajectory generation; obstacle avoidance; standard UAV dynamics; way-points relaxations; Collision avoidance; Iterative methods; Optimization; Safety; Splines (mathematics); Trajectory; Vehicle dynamics; B-spline basis; flat trajectory; mixed-integer; obstacle avoidance; programming;
Conference_Titel :
Control and Automation (MED), 2015 23th Mediterranean Conference on
Conference_Location :
Torremolinos
DOI :
10.1109/MED.2015.7158827
