Comparison of optimal solutions to real-time path planning for a mobile vehicle

Authors:
Jian Yang;Zhihua Qu;Jing Wang;Kevin Conrad
Affiliations:
Delta Tau Data Systems, Inc., Los Angeles, CA and Department of Electrical and Computer Engineering, University of Central Florida, Orlando, FL;Department of Electrical and Computer Engineering, University of Central Florida, Orlando, FL;Computer Engineering Program, Bethune-Cookman University, FL;Elbit Systems of America, Fort Worth, TX and Lockheed Martin Missiles and Fire Control, Grand Prairie, TX
Venue:
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
Year:
2010

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Abstract

In this paper, we present two near-optimal methods to determine the real-time collision-free path for a mobile vehicle moving in a dynamically changing environment. The proposed designs are based on the polynomial parameterization of feasible trajectories by explicitly taking into account boundary conditions, kinematic constraints, and collision-avoidance criteria. The problems of finding optimal solutions to the parameterized feasible trajectories are then formulated with respect to a near-minimal control-energy performance index and a near-shortest distance performance index, respectively. The obtained optimal solutions are analytical and suitable for practical applications which may require real-time trajectory pblnning and replanning. Computer simulations are provided to validate the effectiveness of the proposed near-optimal trajectory-planning methods.