Optimal motion planning with the half-car dynamical model for autonomous high-speed driving
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Karaman_Optimal motion planning.pdf
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1002.13 KB
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Author(s)
Jeon, Jeong hwan
Cowlagi, Raghvendra V.
Peters, Steven C.
Karaman, Sertac
Frazzoli, Emilio
Tsiotras, Panagiotis
Iagnemma, Karl
Date Issued
June 2013
Journal
Proceedings of the 2013 American Control Conference (ACC)
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Jeon, Jeong hwan et al. "Optimal motion planning with the half-car dynamical model for autonomous high-speed driving." IEEE American Control Conference (ACC), 2013.
Version
Author's final manuscript
Abstract
We discuss an implementation of the RRT* optimal motion planning algorithm for the half-car dynamical model to enable autonomous high-speed driving. To develop fast solutions of the associated local steering problem, we observe that the motion of a special point (namely, the front center of oscillation) can be modeled as a double integrator augmented with fictitious inputs. We first map the constraints on tire friction forces to constraints on these augmented inputs, which provides instantaneous, state-dependent bounds on the curvature of geometric paths feasibly traversable by the front center of oscillation. Next, we map the vehicle's actual inputs to the augmented inputs. The local steering problem for the half-car dynamical model can then be transformed to a simpler steering problem for the front center of oscillation, which we solve efficiently by first constructing a curvature-bounded geometric path and then imposing a suitable speed profile on this geometric path. Finally, we demonstrate the efficacy of the proposed motion planner via numerical simulation results.
MIT Department
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Massachusetts Institute of Technology. Department of Mechanical Engineering
Massachusetts Institute of Technology. Laboratory for Manufacturing and Productivity
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Creative Commons Attribution-Noncommercial-Share Alike 3.0
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DOI of Published Version
http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=6579835&queryText%3DOptimal+Motion+Planning+with+the+Half-Car+Dynamical+Model+for+Autonomous+High-Speed
