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Autonomous Trajectory Planning Using Real-Time Information Updates

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Author
Hurni, Michael A.
Sekhavat, Pooya
Ross, Michael I.
Date
2008-08-18
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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.
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
 
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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.
URI
http://hdl.handle.net/10945/29644
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