2018/07/29 by Franz Gritschneder, Gritschneder, Franz, Knut Graichen +3
Engineering · Computer Science · #Advanced Control Systems Optimization #Robotic Path Planning Algorithms #Vehicle Dynamics and Control Systems
paper · pdf · doi:10.48550/arxiv.1807.11039
Motion trajectory planning is one crucial aspect for automated vehicles, as\nit governs the own future behavior in a dynamically changing environment. A\ngood utilization of a vehicle's characteristics requires the consideration of\nthe nonlinear system dynamics within the optimization problem to be solved. In\nparticular, real-time feasibility is essential for automated driving, in order\nto account for the fast changing surrounding, e.g. for moving objects. The key\ncontributions of this paper are the presentation of a fast optimization\nalgorithm for trajectory planning including the nonlinear system model.\nFurther, a new concurrent operation scheme for two optimization algorithms is\nderived and investigated. The proposed algorithm operates in the submillisecond\nrange on a standard PC. As an exemplary scenario, the task of driving along a\nchallenging reference course is demonstrated.\n