Motion planning with dynamic constraints through pose graph optimization
Name
1227274206-MIT.pdf
Size
722.26 KB
Format
Adobe PDF
Checksum (MD5)
cafedb2dfe8f545522e5205c37367167
Author(s)
Balabanska, Nadya L.
Advisor(s)
Sertac Karaman.
Date Issued
2020
Publisher
Massachusetts Institute of Technology
Abstract
This contribution is an optimization-based method for robotic path-planning that is able to recover vehicle controls in addition to discovering an optimized, feasible trajectory from start to goal for vehicles with arbitrary dynamics. The motion planner extends the application of factor-graph optimization commonly used in simultaneous localization and mapping tasks to the path-planning task, specifically the "timed elastic band" trajectory optimization approach [1] for control input extraction functionality. This is achieved by the introduction of control input-dependent vertices into the factor-graph along with a way to systematically design dynamics violation costs without relying on hand-picked geometric parameters. An implementation of the planner successfully recovers vehicle control inputs and produces feasible trajectories in simulation testing.
Description
Thesis: M. Eng., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, September, 2020
Cataloged from student-submitted PDF of thesis.
Includes bibliographical references (pages 20-21).
Subjects
Electrical Engineering and Computer Science.
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Terms of Use
MIT theses may be protected by copyright. Please reuse MIT thesis content according to the MIT Libraries Permissions Policy, which is available through the URL provided.
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