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Communication Dans Un Congrès Année : 2010

Stochastic multi-objective optimization for aggressive maneuver trajectory planning on loose surface

Résumé

In this work we regard the problem of trajectory planning for aggressive maneuver of a wheeled mobile robot on loose surface. Our approach is inspired by previously reported analysis of professional rally racers actions during sharp turn. Using numerical simulations we obtain a set of solutions representing all possible compromises between speed and accuracy of maneuver. We choose a particular solution and extend it by producing a continuous mapping from desired trajectory turn angles to parameters of the control inputs.
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Dates et versions

hal-01300713 , version 1 (11-04-2016)

Identifiants

  • HAL Id : hal-01300713 , version 1

Citer

Alexander V. Terekhov, Jean-Baptiste Mouret, Christophe Grand. Stochastic multi-objective optimization for aggressive maneuver trajectory planning on loose surface. 7th IFAC Symposium on Intelligent Autonomous Vehicles , 2010, Lecce, Italy. pp.1-6. ⟨hal-01300713⟩
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