Name
Abstract | ||
|---|---|---|
The task of a trajectory planning tries to find a sequence of driving commands that connects two configurations, whereas we have to consider nonholonomic constraints, obstacles and driving costs. In this paper, we present a new approach that supports arbitrary primitive trajectories, cost functions and constraints. The vehicle’s driving capabilities are modeled by a list of supported maneuvers. For maneuvers there exist equations that map configurations to driving commands. From all possible maneuver sequences that connect start and target, we compute the optimum with a Viterbi-like approach. |
Year | DOI | Venue |
|---|---|---|
2018 | 10.1007/978-3-030-01370-7_1 | IAS |
Field | DocType | Citations |
Control theory,Computer science,Nonholonomic system,Viterbi algorithm,Trajectory planning | Conference | 0 |
PageRank | References | Authors |
0.34 | 8 | 1 |