路径点松弛和避障的平坦轨迹生成

2015 23rd Mediterranean Conference on Control and Automation (MED) Pub Date : 2015-06-16 DOI:10.1109/MED.2015.7158827

F. Stoican, I. Prodan, D. Popescu

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引用次数: 22

摘要

针对需要通过先验给定路径点的自动驾驶车辆，提出了几种替代经典轨迹生成的方法。目前的研究主要集中在约束松弛和避障条件上，利用微分平面度生成轨迹，b样条曲线进行平面化输出参数化。通过标准无人机动力学仿真验证了结果。

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Flat trajectory generation for way-points relaxations and obstacle avoidance

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.

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2015 23rd Mediterranean Conference on Control and Automation (MED)

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