Autonomous Trajectory Planning Using Real-Time Information Updates
Authors
Hurni, Michael A.
Sekhavat, Pooya
Ross, Michael I.
Subjects
Autonomous Trajectory Planning
Advisors
Date of Issue
2008-08-18
Date
August 18-21, 2008
Publisher
The American Institute of Aeronautics and Astronautics (AIAA)
Language
Abstract
We present a dynamic optimal control method for autonomous trajectory planning and control of an Unmanned Ground Vehicle (UGV) using real-time information updates. The objective of the UGV is to traverse from an initial start point and reach its goal in minimum time, with maximum robustness, while avoiding both static and dynamic obstacles. This is achieved by deriving the control solution that carries out the initial planning problem while minimizing a cost and satisfying constraints based on the initial global knowledge of the area. To combat the problem of inaccurate global knowledge and a dynamic environment, the UGV uses its sensors to map the locally detected change in the environment and continuously updates its global map to re-compute a control solution that can achieve an optimal trajectory to the goal. Simulation results illustrate successful implementation of the method in various scenarios.
Type
Conference Paper
Description
The article of record as published may be located at http://dx.doi.org/10.2514/6.2008-6305
AIAA Guidance, Navigation and Control Conference and Exhibit Paper no. AIAA-2008-6305, Honolulu, Hawaii, 2008
AIAA Guidance, Navigation and Control Conference and Exhibit Paper no. AIAA-2008-6305, Honolulu, Hawaii, 2008
Series/Report No
Department
Mechanical & Astronautical Engineering
Organization
Mechanical and Aerospace Engineering (MAE)
Graduate School of Engineering and Applied Science (GSEAS)
Naval Postgraduate School (U.S.)
American Institute of Aeronautics and Astronautics (AIAA)
Identifiers
NPS Report Number
Sponsors
Funder
NA
Format
Citation
Distribution Statement
Approved for public release; distribution is unlimited.
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.