数学优化
运动规划
避障
分段
计算机科学
弹道
凸优化
空格(标点符号)
路径(计算)
配置空间
正多边形
多项式的
避碰
数学
碰撞
机器人
移动机器人
人工智能
几何学
数学分析
物理
计算机安全
量子力学
天文
程序设计语言
操作系统
作者
Jialun Li,Xin Xie,Qin Lin,Jianping He,John M. Dolan
标识
DOI:10.1109/iros47612.2022.9981961
摘要
To efficiently generate safe trajectories for an autonomous vehicle in dynamic environments, a layered motion planning method with decoupled path and speed planning is widely used. This paper studies speed planning, which mainly deals with dynamic obstacle avoidance given a planned path. The main challenges lie in the optimization in a non-convex space and the trade-off between safety, comfort, and efficiency. First, this work proposes to conduct a search in second-order derivative space for generating a comfort-optimal reference trajectory. Second, by combining abstraction and refinement, an algorithm is proposed to construct a convex feasible space for optimization. Finally, a piecewise Bézier polynomial optimization approach with trapezoidal corridors is presented, which theoretically guarantees safety and significantly enlarges the solution space compared with the existing rectangular corridors-based approach. We validate the efficiency and effectiveness of the proposed approach in simulations.
科研通智能强力驱动
Strongly Powered by AbleSci AI