Trajectory generation for road vehicle obstacle avoidance using convex optimization

Bevan, G.P., Gollee, H. and O'Reilly, J. (2010) Trajectory generation for road vehicle obstacle avoidance using convex optimization. Proceedings of the Institution of Mechanical Engineers Part D: Journal of Automobile Engineering, 224(4), pp. 455-473. (doi:10.1243/09544070JAUTO1204)

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Abstract

This paper presents a method for trajectory generation using convex optimization to find a feasible, obstacle-free path for a road vehicle. Consideration of vehicle rotation is shown to be necessary if the trajectory is to avoid obstacles specified in a fixed Earth axis system. The paper establishes that, despite the presence of significant non-linearities, it is possible to articulate the obstacle avoidance problem in a tractable convex form using multiple optimization passes. Finally, it is shown by simulation that an optimal trajectory that accounts for the vehicle’s changing velocity throughout the manoeuvre is superior to a previous analytical method that assumes constant speed.

Item Type:Articles
Additional Information:© Bevan, Gollee, O'Reilly, 2010. The definitive, peer reviewed and edited version of this article is published in Proceedings of the Institute of Mechanical Engineers Part D - Journal of Automobile Engineering 224(4):455-473, 2010. DOI: 10.1243/09544070JAUTO1204
Keywords:Obstacle avoidance, trajectory generation, lane change, convex optimization
Status:Published
Refereed:Yes
Glasgow Author(s) Enlighten ID:Bevan, Dr Geraint and O'Reilly, Professor John and Gollee, Dr Henrik
Authors: Bevan, G.P., Gollee, H., and O'Reilly, J.
Subjects:T Technology > TL Motor vehicles. Aeronautics. Astronautics
College/School:College of Science and Engineering > School of Engineering > Biomedical Engineering
College of Science and Engineering > School of Engineering > Electronics and Nanoscale Engineering
College of Science and Engineering > School of Engineering > Systems Power and Energy
Journal Name:Proceedings of the Institution of Mechanical Engineers Part D: Journal of Automobile Engineering
Journal Abbr.:P I MECH ENG D-J AUT
Publisher:Professional Engineering Publishing
ISSN:0954-4070
ISSN (Online):2041-2991
Copyright Holders:Copyright © 2010 The Authors
First Published:First published in Proceedings of the Institution of Mechanical Engineers Part D - Journal of Automobile Engineering 224(4):455-473
Publisher Policy:Reproduced in accordance with the copyright policy of the publisher.

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Project CodeAward NoProject NamePrincipal InvestigatorFunder's NameFunder RefLead Dept
371011Complex Embedded Automotive Control SystemsKenneth HuntEuropean Commission (EC)CEMACS 004175School of Engineering