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 |
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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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