The paper addresses a velocity planning problem for autonomous vehicles. Appropriate bounds on velocities and accelerations have to be considered in order to avoid wheels skidding and actuators saturation. Planned profiles fulfill an assigned travelling time, while longitudinal jerk is minimized in order to increase the motion smoothness. In the paper it is shown that the velocity planning problem can be formulated as a nonlinear semi-infinite optimization to be solved in real time by means of an appositely devised algorithm characterized by a light computational burden.
Optimal velocity planning for autonomous vehicles considering curvature constraints / GUARINO LO BIANCO, Corrado; M., Romano. - (2007), pp. 2706-2711. (Intervento presentato al convegno IEEE International Conference on Robotics and Automation tenutosi a Roma, Italy nel 10-14 Aprile 2007) [10.1109/ROBOT.2007.363874].
Optimal velocity planning for autonomous vehicles considering curvature constraints
GUARINO LO BIANCO, Corrado;
2007-01-01
Abstract
The paper addresses a velocity planning problem for autonomous vehicles. Appropriate bounds on velocities and accelerations have to be considered in order to avoid wheels skidding and actuators saturation. Planned profiles fulfill an assigned travelling time, while longitudinal jerk is minimized in order to increase the motion smoothness. In the paper it is shown that the velocity planning problem can be formulated as a nonlinear semi-infinite optimization to be solved in real time by means of an appositely devised algorithm characterized by a light computational burden.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
