Journal article
Optimal Motion Planning for Differentially Flat Systems Using Bernstein Approximation
IEEE control systems letters, Vol.2(1), pp.181-186
01/2018
DOI: 10.1109/LCSYS.2017.2778313
Abstract
This letter presents a computational framework to efficiently generate feasible and optimal trajectories for differentially flat autonomous vehicle systems. We formulate the optimal motion planning problem as a continuous-time optimal control problem, and approximate it by a discrete-time formulation using Bernstein polynomials. These polynomials allow for efficient computation of various constraints along the entire trajectory, and are particularly convenient for generating trajectories for safe operation of multiple vehicles in complex environments. The advantages of the proposed method are investigated through theoretical analysis and numerical examples.
Details
- Title: Subtitle
- Optimal Motion Planning for Differentially Flat Systems Using Bernstein Approximation
- Creators
- Venanzio Cichella - Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign, Urbana, IL, USAIsaac Kaminer - Department of Mechanical and Aerospace Engineering, Naval Postgraduate School, Monterey, CA, USAClaire Walton - Department of Mechanical and Aerospace Engineering, Naval Postgraduate School, Monterey, CA, USANaira Hovakimyan - Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign, Urbana, IL, USA
- Resource Type
- Journal article
- Publication Details
- IEEE control systems letters, Vol.2(1), pp.181-186
- Publisher
- IEEE
- DOI
- 10.1109/LCSYS.2017.2778313
- ISSN
- 2475-1456
- eISSN
- 2475-1456
- Grant note
- Air Force Office of Scientific Research; AFOSR (10.13039/100000181) NSF (10.13039/100000001) National Aeronautics and Space Administration; NASA (10.13039/100000104)
- Language
- English
- Date published
- 01/2018
- Academic Unit
- Mechanical Engineering
- Record Identifier
- 9984064206402771
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