We present a path planning method for computing optimal parking maneuvers for road vehicles, operating in a known environment in the presence of static obstacles. The proposed approach is based on the numerical solution of the Hamilton-Jacobi-Bellman equations and allows finding the minimum length trajectory with a number of direction changes bounded by an assigned constant. Various numerical tests show the effectiveness of the method.
Path planning with limited numbers of maneuvers for automatic guided vehicles: An optimization-based approach / Micelli, Piero; Consolini, Luca; Locatelli, Marco. - ELETTRONICO. - (2017), pp. 204-209. (Intervento presentato al convegno 25th Mediterranean Conference on Control and Automation, MED 2017 tenutosi a University of Malta, Valletta Campus, mlt nel 2017) [10.1109/MED.2017.7984119].
Path planning with limited numbers of maneuvers for automatic guided vehicles: An optimization-based approach
Micelli, Piero;Consolini, Luca;Locatelli, Marco
2017-01-01
Abstract
We present a path planning method for computing optimal parking maneuvers for road vehicles, operating in a known environment in the presence of static obstacles. The proposed approach is based on the numerical solution of the Hamilton-Jacobi-Bellman equations and allows finding the minimum length trajectory with a number of direction changes bounded by an assigned constant. Various numerical tests show the effectiveness of the method.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
