Comparison of Optimal Solutions to Real-Time Path Planning for a Mobile Vehicle

@article{Yang2010ComparisonOO,
  title={Comparison of Optimal Solutions to Real-Time Path Planning for a Mobile Vehicle},
  author={Jian Yang and Zhihua Qu and Jing Wang and Kevin L. Conrad},
  journal={IEEE Transactions on Systems, Man, and Cybernetics - Part A: Systems and Humans},
  year={2010},
  volume={40},
  pages={721-731}
}
In this paper, we present two near-optimal methods to determine the real-time collision-free path for a mobile vehicle moving in a dynamically changing environment. The proposed designs are based on the polynomial parameterization of feasible trajectories by explicitly taking into account boundary conditions, kinematic constraints, and collision-avoidance criteria. The problems of finding optimal solutions to the parameterized feasible trajectories are then formulated with respect to a near… CONTINUE READING
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