MGV Obstacle Avoidance Trajectory Generation Considering Vehicle Shape-Reference-Cited by-同舟云学术

MGV Obstacle Avoidance Trajectory Generation Considering Vehicle Shape

Published:2023-04-20 Issue:2 Volume:35 Page:262-270
ISSN:1883-8049
Container-title:Journal of Robotics and Mechatronics
language:en
Short-container-title:J. Robot. Mechatron.

Author:

Arai Yoshihide¹,Sago Takashi¹,Ueyama Yuki¹,Harada Masanori¹

Affiliation:

1. National Defense Academy of Japan, 1-10-20 Hashirimizu, Yokosuka, Kanagawa 239-8686, Japan

Abstract

This study investigates the application of obstacle avoidance trajectory generation considering the vehicle shape of a micro ground vehicle by successive convexification and state-triggered constraints. The avoidance trajectory is generated by numerical computation and path-following experiments are conducted to assess the generated trajectory. The numerical computation results indicate that the trajectory obtained by the algorithm successfully avoids obstacles considering the vehicle shape and satisfies the constraints. The experiment includes the model predictive control to follow the generated trajectory. Numerical computations and experiments confirm the usefulness of the trajectory generation algorithm.

Publisher

Fuji Technology Press Ltd.

Subject

Electrical and Electronic Engineering,General Computer Science

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