[Zurück]

M Seyr, S. Jakubek:
"Dynamic trajectory generation via numerical multi-objective optimisation";
Vortrag: American Control Conference 2007, New York City, USA; 11.07.2007 - 13.07.2007; in: "Proceedings of the 2007 American Control Conference", (2007), ISBN: 1-4244-0989-6; Paper-Nr. ThB16.4, 6 S.

An algorithm for dynamic trajectory generation
employing numerical multi-objective optimisation is presented.
The crucial innovations are the description of the trajectory
through velocity and curvature on the one hand and the
restriction of the otherwise infinite function space to a set of
basis functions on the other hand. A number of boundary
conditions and inequality constraints ensuring the feasibility
of the planned trajectory for real vehicles are adhered to.
This algorithm is embedded in a rudimentary map-building
scheme and an efficient path-planning concept working with
incomplete environment information. The performance of the
system is demonstrated by application to randomly generated
environments.

dynamic trajectory planning, multi-objective optimisation, nonlinear optimisation