Name
Title | ||
|---|---|---|
Trajectory Optimization With Inter-Sample Obstacle Avoidance Via Successive Convexification |
Abstract | ||
|---|---|---|
This paper develops a convex optimization-based method for real-time path planning onboard an autonomous vehicle for environments with cylindrical or ellipsoidal obstacles. Obstacles render the state space non-convex, thus a constrained, non-convex optimal control problem must be solved to obtain a feasible trajectory. A technique known as Successive Convexification is used to solve the non-convex optimal control problem via a convergent sequence of convex optimization problems. The paper has two main contributions: first, constraints for ensuring that the computed trajectories do not cross obstacles between discrete states are developed for a class of dynamics; second, the theory of successive convexification is extended to allow for a general class of non-convex state constraints. Finally, simulations for a relevant example are presented to demonstrate the effectiveness of the proposed method. |
Year | Venue | Field |
|---|---|---|
2017 | 2017 IEEE 56TH ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC) | Obstacle avoidance,Motion planning,Mathematical optimization,Optimal control,Trajectory optimization,Computer science,Control theory,Convex function,State space,Convex optimization,Trajectory |
DocType | ISSN | Citations |
Conference | 0743-1546 | 0 |
PageRank | References | Authors |
0.34 | 0 | 5 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Daniel Dueri | 1 | 2 | 1.18 |
| Yuanqi Mao | 2 | 1 | 1.46 |
| Zohaib Mian | 3 | 0 | 0.34 |
| Jerry Ding | 4 | 141 | 9.61 |
| Behçet Açikmese | 5 | 41 | 15.88 |