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Hierarchical motion planning with kinodynamic feasibility guarantees: Local trajectory planning via model predictive control
(Georgia Institute of Technology, 2012-05)
Motion planners for autonomous vehicles often involve a two-level hierarchical structure consisting of a high-level, discrete planner and a low-level trajectory generation scheme. To ensure compatibility between these two ...
Optimal Motion Planning with the Half-Car Dynamical Model for Autonomous High-Speed Driving
(Georgia Institute of Technology, 2013-06)
We discuss an implementation of the RRT* optimal motion planning algorithm for the half-car dynamical model to enable autonomous high-speed driving. To develop fast solutions of the associated local steering problem, we ...
On the Generation of Nearly Optimal, Planar Paths of Bounded Curvature and Curvature Gradient
(Georgia Institute of Technology, 2009)
We present a numerically efficient scheme to generate
a family of path primitives that can be used to construct
paths that take into consideration point-wise constraints on both
the curvature and its derivative. The ...
Simultaneous Position and Attitude Control Without Linear and Angular Velocity Feedback Using Dual Quaternions
(Georgia Institute of Technology, 2013-06)
In this paper, we suggest a new representation for the combined translational and rotational dynamic equations of motion of a rigid body in terms of dual quaternions. We show that with this representation it is relatively ...
Use of relaxation methods in sampling-based algorithms for optimal motion planning
(Georgia Institute of Technology, 2013-05)
everal variants of incremental sampling-based algorithms have been recently proposed in order to optimally solve motion planning problems. Popular examples include the RRT* and the PRM* algorithms. These algorithms are ...
Real-time Implementation and Validation of a New Hierarchical Path Planning Scheme for UAVs via Hardware-in-the-Loop Simulation
(Georgia Institute of Technology, 2009)
We develop a hierarchical path planning and control algorithm for a small
fixed-wing UAV. Incorporating the hardware-in-the-loop (HIL) simulation environment, the hierarchical path planning and control algorithm has been ...
Speed Profile Optimization for Optimal Path Tracking
(Georgia Institute of Technology, 2013-11)
In this paper, we study the problem of minimum-time, and minimum-energy speed profile optimization along a given path, which is a key step for solving the optimal path tracking problems for a particular class of dynamical ...
Time-Optimal Vehicle Posture Control to Mitigate Unavoidable Collisions Using Conventional Control Inputs
(Georgia Institute of Technology, 2013-06)
This paper analyzes the mitigation of an unavoidable T-bone collision, where an “intelligent” vehicle executes an aggressive time-optimal rotation to achieve a favorable relative orientation with another vehicle prior to ...
The Markov-Dubins Problem in the Presence of a Stochastic Drift Field
(Georgia Institute of Technology, 2012-12)
We consider the problem of navigating a small Dubins-type aerial or marine vehicle to a prescribed destination set in minimum expected time and in the presence of a stochastic drift field induced by local winds or currents. ...
The Asymmetric Sinistral/Dextral Markov-Dubins Problem
(Georgia Institute of Technology, 2009)
We consider a variation of the classical Markov-Dubins problem dealing with curvature-constrained, shortest paths in the plane with prescribed initial and terminal positions and tangents, when the lower and upper bounds ...