An information-centric approach to autonomous trajectory planning utilizing optimal control techniques
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Authors
Hurni, Michael A.
Subjects
Optimal control
pseudospectral
autonomous trajectory planning
unmanned ground vehicles
real-time
path planning
DIDO
pseudospectral
autonomous trajectory planning
unmanned ground vehicles
real-time
path planning
DIDO
Advisors
Ross, I. Michael
Date of Issue
2009-09
Date
September 2009
Publisher
Monterey, California: Naval Postgraduate School
Language
Abstract
This work introduces a new information-centric pseudospectral optimal control based algorithm for autonomous trajectory planning and control of unmanned ground vehicles with real-time information updates. It begins with a comprehensive study and comparison of the various path planning methods currently in use. It then provides an analysis of the optimal control method, including vehicle and obstacle modeling techniques, several different problem formulations, and a number of important insights on unmanned ground vehicle motion planning. The new algorithm is then utilized on a collection of motion planning scenarios with varying levels of information; the performance of the planner and the solution accuracies under these varying levels of information are studied for both single and multi-vehicle scenarios. The multi-vehicle scenarios compare and contrast centralized, decentralized, decoupled, coordinated, cooperative, and prioritized control methods. Finally, the versatility of the planner (and the optimal control technique) is demonstrated, as it is used as both a path follower and trajectory planner in a collection of scenarios, including multi-vehicle formations and sector keeping.
Type
Thesis
Description
Series/Report No
Department
Mechanical Engineering
Organization
Identifiers
NPS Report Number
Sponsors
Funding
Format
xx, 275 p. : col. ill. ; 28 cm.
Citation
Distribution Statement
Approved for public release; distribution is unlimited.