DocumentCode
3165323
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
fYear
2015
fDate
16-19 June 2015
Firstpage
695
Lastpage
700
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Control and Automation (MED), 2015 23th Mediterranean Conference on
Conference_Location
Torremolinos
Type
conf
DOI
10.1109/MED.2015.7158827
Filename
7158827
Link To Document