The 7th IFAC Symposium on Intelligent Autonomous Vehicles 2010

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Stochastic Multi-objective Optimization for Aggressive Maneuver Trajectory Planning on Loose Surface

Alexander Terekhov
Institut Systemes Intelligents et de Robotique, UPMC-CNRS
France

Jean-Baptiste Mouret
Institut Systemes Intelligents et de Robotique, UPMC-CNRS
France

Christophe Grand
Institut Systemes Intelligents et de Robotique, UPMC-CNRS
France

Abstract:
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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