Optimal velocity planning for autonomous vehicles considering curvature constraints

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2007, Pages 2706-2711

  Guarino Lo Bianco, Corrado ^a,b   Romano, Massimo ^b  

^a IEEE   (Italy)

^b UNIVERSITY OF PARMA   (Italy)

Author keywords

[No Author keywords available]

Indexed keywords

AUTONOMOUS VEHICLES; SEMI INFINITE OPTIMIZATION;

COMPUTATIONAL METHODS; CONSTRAINT THEORY; OPTIMIZATION; REAL TIME SYSTEMS; ROBOTICS; VELOCITY CONTROL;

MOTION PLANNING;

EID: 36348975773     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2007.363874     Document Type: Conference Paper

References (14)

1. C.-S. Lin, P.-R. Chang, and J. Luh, "Formulation and optimization of cubic polynomial joint trajectories for industrial robots," IEEE Trans. Automatic Control, vol. AC-28, no. 12, pp. 1066-1074, 1983.
2. J. E. Bobrow, S. Dubowsky, and J. S. Gibson, "Time-optimal, control of robotic manipulators along specified paths," International Journal of Robotics Research, vol. 4, no. 3, pp. 554-561, 1985.
3. K. G. Shin and N. D. McKay, "Minimum-time control of robotic manipulators with geometric path constriants," IEEE Transactions on Automatic Control, vol. AC-30, no. 6, pp. 531-541, 1985.
4. A. De Luca, L. Lanari, and G. Oriolo, "A sensitivity approach to optimal spline robot trajectories," Automatica, vol. 27, no. 3, pp. 535-539, 1991.
5. L. Žlajpah, "On time optimal path control of manipulators with bounded joint velocities and torques," in Procs. of the 1996 Int. Conf. on Robotics and Automation, Minneapolis, Minnesota, April 1996, pp. 1572-1577.
6. C .Guarino Lo Bianco and A. Piazzi, "A semi-infinite optimization approach to optimal trajectory planning of mechanical manipulators," in Semi-Infinite Programming: Recent Advances. Kluwer, 2001, ch. 13, pp. 271-297.
7. _, "Minimum-time trajectory planning of mechanical manipulators under dynamic constraints," Int. J. of Control, vol. 75, no. 13, pp. 967-980, 2002.
8. V. Muñoz, A. Ollero, M. Prado, and A. Simón, "Mobile robot trajectory planning with dynamic and kinematic constraints," in. Proc. of the 1994 IEEE Int. Conf. on Robotics and Automation, vol. 4, San Diego, CA, May 1994, pp. 2802-2807.
9. C. Guarino Lo Bianco, A. Piazzi, and M. Romano, "Smooth motion generation for unicycle mobile robots via dynamic path inversion," IEEE Trans. on Robotics, vol. 20, no. 5, pp. 884-891, Oct. 2004.
10. 3-splines for the path planning of wheeled mobile robots." in Proc. of the 2003 European Control Conference, ECC 2003, Cambridge, UK, September 2003.
11. C. Guarino Lo Bianco and M. Romano, "Bounded velocity planning for autonomous vehicles," in 2005 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'05, Edmonton, Canada, August 2005, pp. 4068-4073.
12. C. Guarino Lo Bianco, "Optimal velocity planning for autonomous vehicles under kinematic constraints," in 8th Int. IFAC Symp. on Robot Control, SYROCO 2006, Bologna, Italy, Sept. 2006.
13. C.-C. Hsiung, A First Course in Differential Geometry. Cambrige, MA: International Press, 1997.
14. Y. Kanayama and B. Hartman, "Smooth local path planning for autonomous vehicles," in Proc. of the IEEE Int. Conf. on Robotics and Automation, ICRA89, vol. 3, Scottsdale, AZ (US), May 1989, pp. 1265-1270.